System identification is now a well established approach for the development of control-oriented models in the rotorcraft field (see, e.g., the survey paper Hamel and Kaletka (1997), the recent books Tischler and Remple (2006), Jategaonkar (2006) and the references therein). Though the application to full scale rotorcraft is by now fairly mature, less experience has been gathered on small-scale vehicles, such as, e.g., quadrotors. This paper deals with the problem of characterizing the attitude dynamics of a variable-pitch quadrotor from data and presents the results obtained in an experimental identification campaign. More precisely, on-line and off-line methods have been considered and the performance of black-box versus grey-box models has been compared.
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机译：系统识别现已成为在旋翼飞机领域开发面向控制模型的成熟方法（例如，参见调查文件Hamel和Kaletka（1997），最新著作Tischler and Remple（2006），Jategaonkar（2006）和其中的参考文献）。尽管到现在为止，对全尺寸旋翼飞机的应用已经相当成熟，但是在诸如四旋翼飞行器之类的小型车辆上的经验却很少。本文涉及从数据表征可变螺距四旋翼的姿态动力学问题，并提出了在实验识别活动中获得的结果。更准确地说，已经考虑了在线和离线方法，并且比较了黑盒模型和灰盒模型的性能。
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