  This paper introduces an analytical framework for the derivation of hybrid
equations of motion of a flexible quadrotor. This approach helps obtain rigid
and elastic equations of motion simultaneously, in a decoupled form, which
facilitates the controller design. A delay-dependent stability condition is
obtained for the overall system dynamics, including the operator with reaction
time delay, the adaptive controller and the flexible quadrotor dynamics. Two
different adaptive controllers are implemented to address the uncertainties. It
is demonstrated via simulations that the flexible arm tip oscillations are
mitigated when a closed loop reference model adaptive controller is used,
compared to a conventional model reference adaptive controller.
