Simultaneous Inertia Estimation and Trajectory Tracking Control for Quadrotor Rotational Dynamics

This letter presents an innovative composite Proportional-Integral-Derivative (PID) controller for quadrotor rotational dynamics, which simultaneously ensures trajectory tracking and estimates unknown inertia parameters. The controller combines a Passivity-based control law with an updated adaptive law, which involves a new Linear Regression Equation (LRE) based on the power balance parametrization technique and the recently reported Least Squares plus Dynamic Regressor Extension and Mixing (LS+DREM) estimator. The excellent performance of the proposed controllers is validated through real-time experimental flights.