In this letter, we consider trajectory tracking control and inertial parameter estimation of a quadrotor UAV whose center of mass (CoM) does not coincide with its geometric center. Onboard payloads like an IMU, a camera, or a battery are not necessarily placed at its geometric center. Moreover, during the flight these sensors might move because of external disturbances and cause a CoM offset. Thus, these events and equipment introduce an offset and cause the inertia matrix to be non-diagonal. We develop an integral concurrent learning (ICL)-based geometric controller that estimates the mass, the CoM offset, and the full inertia matrix online, without an accelerometer or numerical derivatives, and tracks a given trajectory corrected by the offset estimated online. We prove that the estimated parameters converge to their true values under a finite excitation condition. We validate the effectiveness of the proposed algorithm using a simulation example.

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