System identification and parameter estimation of a multi-rotor flying machine

In this paper, system identification and parameter estimation of an unmanned quad-rotor helicopter are presented. Flight test of quad-rotor UAV was conducted and acquired time domain flight data was used for system identification in transfer function form. Estimated responses from the TF models show very small discrepancy against experimental data. For confirmation of the transfer function´s consistency validation task was also performed. A non-linear plant model was developed and different unknown parameters were estimated. The plant model can be used for dynamic behavior prediction of the quad-rotor aerial vehicle.