Modeling and ARX Identification of a Quadrotor MiniUAV

Sarioglu A., Kural A.

9th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Turkey, 26 - 28 November 2015, pp.1196-1200 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Bursa
  • Country: Turkey
  • Page Numbers: pp.1196-1200


In this work, a miniature-sized, radio controlled quadrotor is modeled and a black-box model is found using real-time flight data. The quadrotor which is used in this work is equipped with a special telemetry circuit to collect real-time data. Euler angles versus motor speeds data is used to identify the nonlinear rotational subsystem of the quadrotor as a quasi-linear ARX (auto-regressive exogenous) model. The ARX model performances are tested and found quite satisfactory.