# Modelling, identification and geometric control of autonomous quadcopters for agile maneuvering

arXiv: https://arxiv.org/abs/2306.09651 · HTML: https://mlsanity.com/paper/2306.09651/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Jun 2023.

## Built on by (most cited first, 1 of 1)

- [Machine Learning-based Feedback Linearization Control of Quadrotor Subject to Unmodeled Dynamics](https://mlsanity.com/paper/2606.31199/) (2026)

## Abstract (arXiv)

This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method is to speed up the commissioning of a new quadcopter design, i.e., to enable the drone to perform agile maneuvers with high precision in the shortest time possible. After a brief introduction to the theoretical background of the modelling and control design, the steps of the proposed method are presented using the example of a self-developed quadcopter platform. The performance of the method is tested and evaluated by real flight experiments.