Non-parametric Auto-tuning Framework Using Modified Relay Feedback Test and Machine Learning for Multi-rotor UAVs

System identification is a key discipline within the field of automation that deals with inferring mathematical models of dynamic systems based on input-output measurements. Conventional identification methods require extensive data generation and are thus not suitable for real-time applications. In this presentation, I will discuss a novel real-time approach for the parametric identification of linear systems using Deep Learning (DL) and the Modified Relay Feedback Test (MRFT) is proposed. The proposed approach requires only a single steady-state cycle of MRFT and guarantees stability and performance in the identification and control phases. The MRFT output is passed to a trained DL model that identifies the underlying process parameters in milliseconds. A novel modification to the Softmax function is derived to better conform the DL model for the process identification task. Quadrotor Unmanned Aerial Vehicle (UAV) attitude and altitude dynamics were used in simulation and experimentation to verify the presented approach. Results show the effectiveness and real-time capabilities of the proposed approach, which outperforms the conventional Prediction Error Method in terms of accuracy, robustness to biases, computational efficiency, and data requirements.