Finite-frequency Identification of the Quadcopter Translation Dynamics

The application of the finite-frequency identification method to a particular problem of linearized model identification of the quadcopter translation dynamics is considered in the paper. The transfer function of the horizontal translation dynamics is derived from three-dimensional differential equations of the translation velocity. Taking into account the aerodynamic drag leads to the transfer function, parameters of which depend on velocity. Experimental identification of the quadcopter flight dynamics is carried out.