Modeling of quadrotor roll loop using frequency identification method

Abstract

Model estimation is an important step in quadrotor control design because model uncertainties can cause unstable behavior especially with non-robust control methods. In this paper, a modeling approach of a quadrotor prototype has been proposed. First an initial dynamic model of quadrotor UAV based on Euler-Lagrange formalism was developed. Then the roll system has been estimated using closed loop identification method and frequency domain analysis. An experimental tests has been performed for the roll system to validate the estimated dynamic model.