Abstract
In this work, we provide a tutorial-style exposition of quadrotor dynamics model identification from experimental data collected in closed-loop. Our objective is to provide guidelines for the scientist who is approaching model-based fight control design for multirotor UAVs for which a model is not readily available, but also to provide instructors with pedagogical material that can be utilized to develop experiential learning opportunities complementing face-to-face lectures in the system identification and control engineering curricula.
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