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Abstract and Applied Analysis
Volume 2014 (2014), Article ID 320526, 16 pages
Review Article

A Survey of Modelling and Identification of Quadrotor Robot

1School of Automation, Shenyang Aerospace University, Shenyang 110136, China
2School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China

Received 29 April 2014; Accepted 7 September 2014; Published 20 October 2014

Academic Editor: Shen Yin

Copyright © 2014 Xiaodong Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A quadrotor is a rotorcraft capable of hover, forward flight, and VTOL and is emerging as a fundamental research and application platform at present with flexibility, adaptability, and ease of construction. Since a quadrotor is basically considered an unstable system with the characteristics of dynamics such as being intensively nonlinear, multivariable, strongly coupled, and underactuated, a precise and practical model is critical to control the vehicle which seems to be simple to operate. As a rotorcraft, the dynamics of a quadrotor is mainly dominated by the complicated aerodynamic effects of the rotors. This paper gives a tutorial of the platform configuration, methodology of modeling, comprehensive nonlinear model, the aerodynamic effects, and model identification for a quadrotor.