Dynamic Modelling and Experimental Identification of Four Rotors Helicopter Parameters

Abstract

In this paper an experimental identification of dynamic parameters of a four rotors mini helicopter is presented. An appropriate model for identification and control synthesis is obtained via modelization procedure where several phenomena are included like gyroscopic effects, aerodynamic friction. A comparison between simulated and real system is made in closed loop system using a same controller. The obtained results show the good estimation of the dynamic model.