Adaptive tracking control of an underactuated aerial vehicle

In this paper, adaptive tracking control of an underactuated quadrotor is addressed. Position and yaw trajectory tracking is designed using state feedback control system and an integrator backstepping approach is applied to this coupled and cascaded dynamic system. The control design is further complicated by considering the parametric uncertainty of the dynamic modeling of the quadrotor aerial-robot vehicle. Projection-based adaptive control schemes are then designed to estimate the unknown parameters. Lyapunov-type stability analysis and numerical simulation results which yields a bounded tracking result are shown to demonstrate the initial validity of the proposed controllers.