In this paper mathematical model of quadrotor Unmanned Aerial Vehicle UAV was developed using Euler-Lagrange approach, then model parameters was identified using calculations and experimental tests. In order to validate the estimated model a PID controller for attitude stabilisation was designed and tested by several simulation and experimental step responses. Finally a flight test was successfully accomplished providing the adequacy of the model.
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Walid et al. (2018) studied this question.
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