This paper presents a novel adaptive control algorithm solving the trajectory tracking problem for quadrotor aerial vehicles. The control law is derived using a backstepping procedure. A technique derived from dynamic surface control is used to simplify the expression of the obtained control algorithm, with no significant loss in terms of performance. Proof of stability is obtained using Lyapunov stability theory. Results from numerical simulations illustrate the performance of the obtained controller.
REF presented an innovative adaptive control algorithm using back stepping to solve the problem of trajectory tracking.
Direct Adaptive Tracking Control of Quadrotor Aerial Vehicles
Dynamic Systems and Control, Parts A and B
Dynamic Systems and Control, Parts A and B
Engineering