Nonlinear adaptive regulation control of a quadrotor unmanned aerial vehicle

In this paper, a nonlinear adaptive regulation controller is presented for a class of underactuated quadrotor unmanned aerial vehicle (UAV). The vehicle´s dynamics is subject to modeling impression associated with the inertia matrix, aerodynamic damping coefficients, and some other system parameters. The on-line parameter estimation scheme is combined with feedback control to develop the adaptive control laws. Lyapunov based approaches are utilized to prove that the quadrotor UAV´s position and yaw angle regulation errors are ultimately driven to zero under parametric uncertainties. Simulation results are included to demonstrate the performance of the control strategy.