Concurrent Learning-Based Inertial Parameter Estimation and Control of Quadrotors
Overview
This research letter proposes an integral concurrent learning (ICL)-based geometric controller for quadrotor UAVs with non-coincident centers of mass. The method estimates mass, CoM offset, and the full inertia matrix online without using accelerometers or numerical derivatives, ensuring trajectory tracking under finite excitation conditions. Effectiveness is validated via simulation.
Generated from attributed reports · Updated 4 hours ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Environment: simulation
“e estimated parameters converge to their true values under a finite excitation condition. We validate the effectiveness of the proposed algorithm using a simulation example.”
Exact source · revision 1Source owner not reported
Report timeline
Follow attributed reports and material updates.
- arXiv Robotics — research abstractsSignalConcurrent Learning-Based Inertial Parameter Estimation and Control of Quadrotors
This research letter proposes an integral concurrent learning (ICL)-based geometric controller for quadrotor UAVs with non-coincident centers of mass. The method estimates mass, CoM offset, and the full inertia matrix online without using accelerometers or numerical derivatives, ensuring trajectory tracking under finite excitation conditions. Effectiveness is validated via simulation.
Event coverage history
There is not enough continuous observation data to show a trend.
Timezone · UTC
Article dates follow your selected timezone. Briefing editions use Hong Kong time (UTC+8).