Abstract—Modeling of an aerial robotic control system for cooperative working robots initially needs a mathematical model of the robot. This work presents a validated cross configuration quadcopter model with the stabilized flight control system. Coefficients and parameters regarding the stability control of the aerial robot, i.e., throttle-to-RPM conversion, thrust coefficient, torque coefficient and moment of inertia, are obtained by the experiments. These measured parameters yield the better flight simulation compared with the product datasheet values. Then, the experimental coefficients and parameters are defined in the MATLAB/Simulink model based on Newton-Euler equations. This study analyzes system responses and simulates the flight stability controlled system of the Pixhawk flight controller in the horizontal plane and vertical direction. After that, the flight response of the mathematical model is compared with the actual flight response. The results show that the model of the UAV flight control system has similar characteristic to the actual flight. Thus, the presented mathematical model and control parameters could be adopted for further design on the aerial robot control system such as a multi-robot cooperative task.