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...Quadrotor helicopter flight dynamics and control theory experiment gabriel m homann haomiao huang steven l waslander claire j tomlin helicopters are emerging as a popular platform for unmanned aerial vehicle uav research due to the simplicity of their construction maintenance ability hover vertical take o landing vtol capability current designs have often considered only nominal operating conditions design this work seeks address issues that arise when deviating signicantly from ight regime aided by well established three separate aerodynamic eects investigated they pertain vehicular velocity angle attack airframe cause moments aect attitude thrust variation aects altitude where possible theoretical development is rst presented then validated through both test stand measurements tests using stanford testbed autonomous rotorcraft multi agent starmac results enabled improved controller performance i introduction an concept platforms consists four rotors in total with two pairs counter ro...