Hyperbolic tangent function based adaptive trajectory tracking control for quadrotors

This paper proposes a new adaptive trajectory tracking control algorithm with command filtered compensation for quadrotor aircrafts, that ensures the asymptotic convergence to any desired trajectory in presence of parametric and external uncertainties. The proposed algorithm employs a hyperbolic tangent function matrix to construct a continuous adaptive control law with an online approximator, and integrates a linear tracking-differentiator into the backstepping design to eliminate the timescale separation assumption between attitude and linear dynamics. The stability of the closed-loop control system is proven via the use of Lyapunov theory and Barbalat lemma. Finally, a numerical simulation of tracking a circular trajectory is performed to demonstrate the validity and effectiveness of the proposed algorithm.