Identification of vertical VTOL movement model based on use of local linear models

In this paper we present the identification process of VTOL platform vertical movement model. VTOL platform used during the research was quadrotor equipped with ultrasonic range finder. We would like to model forces acting on the platform body which are result of the propulsion system. In order to develop this model, we had to employ two step procedure. In the first stage we had to estimate thrust forces during the experiment. Then we have used nonlinear modeling technique based on use of local linear models to obtain dynamic model relating throttle inputs with throttle forces.