Mathematical Modelling and Parameter Identification of Quadrotor (a survey)

The paper focuses on mathematical modelling of a quadrotor and identification of parameters used in presented models. There are several models of the quadrotor that can be used to design a controller. The nonlinear model is presented with respect to the body-fixed frame and also to the inertial frame. The next model is defined in terms of quaternions. The last presented mathematical model is a model near a hover position, where some forces and moments can be neglected. Model parameters can be obtained via experimental identification, calculations or the combination of both ways. These parameters are arm length, total mass of the quadrotor, inertia matrix, friction coefficients, thrust coefficient and drag coefficient. Experimental identification of an actuator usually required the usage of a test bed.