Frequency-Shifting-Based Algebraic Approach to Stable On-Line Parameter Identification and State Estimation of Multirotor UAV

In this paper, a frequency-shifting-based (FSB) algebraic approach to stable on-line parameter identification and state estimation is proposed. The proposed simultaneous parameter identification and state estimation algebraic approach are applied to multirotor adaptive-like tracking control assuming that only position measurement is available. The proposed algebraic approach provides very fast convergence towards true values of system parameters and states, without transients that depend on initial conditions and without peaking phenomenon which is characteristics of high-gain observers. The efficiency of the proposed algorithm is illustrated by a simulation example.