Adaptive Parameter Estimation for Flight Reconfiguration Module

Consider the rotor aircraft is not able to deliberately change its own shape for self-adapting different circumstances, tasks, or recovering from damage, a reconfiguration module aircraft that can rearrange its parts according to variable requirements is developed. In this work, a general model of flight reconfiguration module is built by using Newton's and Euler's laws. Moreover, there are some limitations to the structure such as the barycenter of a single module is not its geometric center due to the placement of battery-electric and circuit board devices. As a result, these constraints make its moment of inertia becoming difficult to detect. Therefore, an adaptive law combing with a first-order low pass filter is proposed to estimate these parameters in order to improve estimate accuracy and at the same time avoiding the measurement of high order signal. Finally, a simulation based on the model is given to show the efficiency of the proposed estimation method.