Quadrotor UAV dynamics modeling based on subspace identification system

This paper proposes the development of a dynamic model of a quadrotor UAV through input/output data sets using Subspace identification as a black-box identification type. Subspace identification is suitable for Multi Input-Multi-Output (MIMO) systems. After the identification, the resulting model will be used in an LQR control scheme. Due to the instability nature of quadrotor UAV's, the identification has been performed in close loop conditions. In order to validate the presented identification technique, simulations were carried out on a model of a real quadrotor and a comparison was made against real data taken from operating the real quadrotor. The data used in the simulations are real data collected by real experimentation.