Modeling, Identification and Control of a Quadrotor Aircraft

Thepresentworkreferstothemathematicalmodeling,experimentalidentificationandcontroldesignofasmallunmannedindoorsquadrotoraircraft,atlowtranslationalspeedsaroundthehoveringcondition,wheretheaerodynamicforcesontheairframearedisregarded.AKalmanfilterisimplementedforstateestimationandnoisefi