Adaptive Motion Control of Quadrotors under Parametric Uncertainties with Guaranteed Stability

Abstract

In this research, an adaptive control strategy is presented for quadrotors under parametric uncertainties. The adaptive control scheme learns the quadrotor’s inverse model with a Lyapunov-based adaptation law. For that, a robustness feedback loop is used to stabilize the quadrotor at start-up. Therefore, the controller achieves accurate motion tracking with parametric uncertainties. Unlike many controllers, the proposed adaptive control scheme’s stability is guaranteed by Lyapunov direct method. The proposed controller’s performance in coping with parameter variations is highlighted in different operating conditions.