Nonlinear adaptive trajectory tracking control for a quad-rotor with parametric uncertainty

A novel adaptive control algorithm to trajectory tracking control problem for a quad-rotor with uncertain mass and inertial parameters is presented based on the noncertainty equivalence principle. The estimation laws for quad-rotor mass and inertial parameters are developed with the introduction of stable attracting manifolds into the position-loop and attitude-loop adaptation process, respectively. The position and attitude trajectory tracking control algorithms are constructed through a unified immersion and invariance adaptive control technology. With extracting the desired attitude trajectory from the position-loop, the desired attitude trajectory for the attitude-loop is calculated from a command filter. The ultimately uniformly boundedness of the closed-loop system signals is derived for the quad-rotor under the proposed control algorithm. Simulation results demonstrate the performance of the proposed approach.