Immersion and invariance based adaptive attitude tracking control of a quadrotor UAV in the presence of parametric uncertainty

In this paper, a new adaptive controller for a quadrotor unmanned aerial vehicle (UAV) is presented via Immersion and Invariance (I&I) approach. The quadrotor´s dynamic model is subjected to some uncertain parameters such as the inertial moments, aerodynamic damping coefficients and so on. In particular, the mass-eccentric effects by the payloads are also considered. Despite all these uncertainties above, the proposed adaptive controller is still capable of driving the quadrotor UAV´s attitude asymptotically to a desired trajectory. The stability analysis is performed by Lyapunov techniques and LaSalle´s invariance theorem. Numerical simulation results illustrate the good tracking performance of the proposed scheme.