  This paper presents an overview of the most effective ideas for the
Quad-rotor project. The concept of modeling using different methods is
presented. The modeling part presented the nonlinear model, and the concept of
linearization using small disturbance theory. Parameter identifications part
explained the most important parameters that affect the system stability and
tried to get suitable solutions for these problems and identify some parameters
experimentally. Data filtration, Kalman filter, Structure design, motor
distribution, aerodynamic effect, analysis of shroud and its effect on the
resultant thrust were explained. The control part incorporates different
classical schemes such as PD and PID controllers to stabilize the Quad-rotor.
Also, different ideas are presented to stabilize the quad rotor using PID
controllers with some modification to get high maneuverability and better
performance.
