Implementation of Trajectory Tracking via Adaptive Nonlinear Control Approach for a Quadrotor MAV

in this paper a trajectory tracking maneuver has been implemented for a quadrotor micro aerial vehicle via adaptive nonlinear control approach. Control objective is to retain stability while tracking a complicated closed trajectory in presence of external disturbances, such as wind. We are employing adaptive backstepping control method to accomplish tracking mission due to position and rate control. The Adaptive technique utilized to eliminate the effect of annoying wind disturbances. Based on Lyapunov stability theory, with tuning functions, adaptive control proposes an adaptation law, first to estimate unknown parameters of system and then developing a float construction system to reject the effect of wind drift while flying. Simulation results achieved on nonlinear model verifying the proficiency of proposed controller, we used an appropriate calculating hardware and off-board control. Experimental results verify the effectiveness of designed controller in a real tracking mission.