System identification of quadrotor UAV based on genetic algorithm

Quadrotor helicopter is an increasingly popular rotorcraft platform for unmanned aerial vehicle (UAV) study. Development of a mathematical model with accurate model parameters for quadrotor is extremely beneficial to control the system. But accurate measurement of numerous vehicle parameters would be especially challenging. In this paper, a system identification method for the quadrotor model parameter identification based on genetic algorithm is proposed. Using the real flight input and output information, the genetic algorithm can identify the model parameters. And the results show that the identified parameters with genetic algorithm have an acceptable accuracy.