Modeling and identification of a small unmanned helicopter

This paper describes a mathematical model of a small-scale helicopter developed at "Universidad Politecnica of Madrid" as a part of VAMPIRA (Aerial Multi-sensor Vehicle for Autonomous Inspections) project. An analytical model of a small helicopter is presented as well as a statistical study about the influence of its main parameters. The stability and response of the model is presented after a brief comparison of different techniques for helicopters dynamic modeling. Different identification procedures are also presented. Accuracy of the model is verified by comparing real flight and simulation data obtained during the experiments