System Identification of a Quad-rotor in X Configuration from Experimental Data

Quad-rotors have been a very popular topic for research in the current literature because of its capability to perform different tasks autonomously. This paper focuses on the modeling of a quad-rotor aircraft dynamics based on experimental data. It will be demonstrated that a linear model could represent its dynamics despite of quadrotor's strong nonlinearities. Also, it will be shown how a quad-rotor aircraft system works, its typical mathematical model according with literature and a brief history of Unmanned Aerial Vehicles.