  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.
