TY - GEN
T1 - Establishment and Validation of a High-Fidelity Benchmark-Model for the Quadrotor
AU - Deng, Yixing
AU - Lin, Defu
AU - Ye, Jianchuan
AU - Xu, Jiao
AU - Liu, Hao
AU - Chen, Baijian
N1 - Publisher Copyright:
© 2026 IEEE.
PY - 2026
Y1 - 2026
N2 - Traditional quadrotor models have limitations in accurately characterizing complex UAV motion behaviors, which restricts their applicability in controller design. This work presents a benchmark model of the quadrotor that integrates a propeller model, a motor model, and a body-frame aerodynamics model, maintaining validity across various vehicle scales. Building upon the theoretical framework, we conducted wind tunnel tests and physical parameter measurements to derive a high-fidelity mathematical model for the F450 UAV. Based on the developed model, system stability analysis was performed at multiple forward flight speeds. The fidelity of the proposed model was subsequently validated through flight experiments. In comparison to both the traditional model and an advanced model, the established model is able to more accurately characterize the dynamic characteristics of the UAV. This model provides a practical foundation for controller optimization and flight performance assessment.
AB - Traditional quadrotor models have limitations in accurately characterizing complex UAV motion behaviors, which restricts their applicability in controller design. This work presents a benchmark model of the quadrotor that integrates a propeller model, a motor model, and a body-frame aerodynamics model, maintaining validity across various vehicle scales. Building upon the theoretical framework, we conducted wind tunnel tests and physical parameter measurements to derive a high-fidelity mathematical model for the F450 UAV. Based on the developed model, system stability analysis was performed at multiple forward flight speeds. The fidelity of the proposed model was subsequently validated through flight experiments. In comparison to both the traditional model and an advanced model, the established model is able to more accurately characterize the dynamic characteristics of the UAV. This model provides a practical foundation for controller optimization and flight performance assessment.
KW - aerodynamic modeling
KW - dynamic characterization
KW - model validation
KW - unmanned aerial vehicle (UAV)
KW - wind tunnel testing
UR - https://www.scopus.com/pages/publications/105042437484
U2 - 10.1109/ISOIRS70157.2026.11545279
DO - 10.1109/ISOIRS70157.2026.11545279
M3 - Conference contribution
AN - SCOPUS:105042437484
T3 - Proceedings of ISoIRS 2026 - Moving Towards Embodied Intelligence in the AI Age: 2026 6th International Symposium on Intelligent Robotics and Systems
BT - Proceedings of ISoIRS 2026 - Moving Towards Embodied Intelligence in the AI Age
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Symposium on Intelligent Robotics and Systems, ISoIRS 2026
Y2 - 27 March 2026 through 29 March 2026
ER -