Real Time Parameter Identification of the Inertia Tensor for a Quad-rotor mini-aircraft using Adaptive Control*

In this article an adaptive controller is developed in order to estimate the inertia tensor of an underactuated Quad-rotor mini-aircraft. The proposed control scheme uses the parameter estimation issued from gradient type algorithm. Stability of adaptive control law is shown via Lyapunov arguments. Finally simulations and experimental results are included to illustrate the performance of the parameters identification for the Quad-rotor.