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.

翻译：本文提出了一种多步骤方法，用于构建自主四旋翼的动态运动模型、识别模型参数，并设计基于模型的非线性轨迹跟踪控制器。该方法旨在加速新型四旋翼的调试过程，即让无人机在最短时间内以高精度完成敏捷机动。在简要介绍建模与控制设计的理论基础后，本文以自研四旋翼平台为例展示了所提方法的步骤。通过实际飞行实验对方法的性能进行了测试与评估。