Mathematical modeling and simulation of unmanned aerial vehicles, especially, quadrotor modeling are not a simple work because of their complex structure, nonlinear dynamics and under-actuated features. This paper presents the development of a general parametric model of a quadrotor with complete dynamic. First, a new robust PID control strategy based on QFT as a robust controller design method is introduced and designed for a multivariable nonlinear quadrotor. Then, the robustness of the control strategy is verified by simulations of the linear and nonlinear cases in the presence of uncertainties. The results demonstrate that the proposed PID robust controller can guarantee system stabilization, as well as roll, pitch and yaw tracking, while the disturbance rejection of quadrotor is achieved properly. Copyright © 2015 John Wiley & Sons, Ltd.

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