Dynamic Regressor Extension and Mixing Parameter Estimators-A Comparative Simulation Study of the Quadrotor System

In this paper we present a comparative numerical simulation study of three dynamic regressor extension and mixing estimators applied to the quadrotor system. Our main objective is to compare the transient performance of these three parameter estimators a topic that plays a major role in parameter estimation tasks. Our study goes beyond verifying theoretically validated (asymptotic) properties. We delve into aspects not previously explored, such as sensitivity to tuning parameters, focusing specifically on a quadrotor dynamic model. The ultimate goal of this study is to provide useful design guidelines for the unmanned aerial vehicles community interested in utilizing these estimators.