Adaptive tracking control for quadrotor unmanned flying vehicle

In this work, we introduce adaptive tracking system for quadrotor flying vehicle in the presence of uncertainty. The uncertainty is assumed to be associated with the vehicles payload mass, inertia matrix, actuator faults, and aerodynamic damping force-moment effects and flying environment. The control input combines desired acceleration and proportional-derivative(PD) like auxiliary signals with an adaptation law to learn and compensate uncertainty. Lyapunov method is employed to analyze the closed loop stability of the translational and rotational dynamics of the vehicle. This analysis shows that the tracking error of the translational and rotational dynamics are bounded to zero. Simulation results on a quadrotor vehicle are presented to demonstrate the effectiveness of theoretical arguments of this paper.