Study on the modeling methods of the quad-rotor unmanned helicopter

The complex dynamic characteristics of Quad-rotor Unmanned Helicopter (QUH) always lead to the difficulties in its modeling and control, which limit its development. Different methods for the modeling of QUH are studied carefully in this paper, and the physical modeling method and system identification modeling method of the QUH are given for comparison. Good advices of the selection for better modeling method are given in the end, which will be a good guidance for model selection of QUH in the future control system design.