Adaptive trajectory tracking control of a quadrotor unmanned aircraft

In view of the uncertainties of a quadrotor moment of inertia, a new parameter uncertainty adaptive trajectory tracking control design algorithm with command-filtered compensation is presented in this paper. The proposed controller consists of a position tracking controller, an attitude stabilization controller, a linear tracking-differentiator and an inertia parameter approximator. First, the relationship between attitude and linear dynamics is established by the position tracking control design to generate attitude command signals. Second, based on the input-output stability theory, the attitude stabilization control law and the inertia parameter approximator are constructed. Then a linear tracking-differentiator is employed to compensate the commanded attitude dynamics to avoid the dependence of control law design on the timescale separation assumption. Finally, the simulation result of tracking a typical trajectory for a mini quadrotor demonstrates the validity and effectiveness of the proposed algorithm.