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Open AccessArticle

Online Adaptive Parameter Estimation for Quadrotors

Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China
Author to whom correspondence should be addressed.
Algorithms 2018, 11(11), 167;
Received: 11 September 2018 / Revised: 19 October 2018 / Accepted: 23 October 2018 / Published: 25 October 2018
(This article belongs to the Special Issue Parameter Estimation Algorithms and Its Applications)
The stability and robustness of quadrotors are always influenced by unknown or immeasurable system parameters. This paper proposes a novel adaptive parameter estimation technology to obtain high-accuracy parameter estimation for quadrotors. A typical mathematical model of quadrotors is first obtained, which can be used for parameter estimation. Then, an expression of the parameter estimation error is derived by introducing a set of auxiliary filtered variables. Moreover, an augmented matrix is constructed based on the obtained auxiliary filtered variables, which is then used to design new adaptive laws to achieve exponential convergence under the standard persistent excitation (PE) condition. Finally, a simulation and an experimental verification for a typical quadrotor system are shown to illustrate the effectiveness of the proposed method. View Full-Text
Keywords: adaptive law; parameter estimation; quadrotors; persistent excitation adaptive law; parameter estimation; quadrotors; persistent excitation
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MDPI and ACS Style

Zhao, J.; Wang, X.; Gao, G.; Na, J.; Liu, H.; Luan, F. Online Adaptive Parameter Estimation for Quadrotors. Algorithms 2018, 11, 167.

AMA Style

Zhao J, Wang X, Gao G, Na J, Liu H, Luan F. Online Adaptive Parameter Estimation for Quadrotors. Algorithms. 2018; 11(11):167.

Chicago/Turabian Style

Zhao, Jun; Wang, Xian; Gao, Guanbin; Na, Jing; Liu, Hongping; Luan, Fujin. 2018. "Online Adaptive Parameter Estimation for Quadrotors" Algorithms 11, no. 11: 167.

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