Experimental Quadrotor Physical Parameters Estimation

This paper addresses the experimental quadrotor physical parameter identification using two versions of the recently proposed technique known as dynamic regressor extension and mixing (DREM). This technique preprocesses, algebraically and dynamically, the regressor to alleviate the persistency of excitation constraints. From the recorded data in experimental flights, the quadrotor physical parameters: inertia, mass, and aerodynamic drag, are identified using a power balance-based regressor.