Adaptive motion control of quadrotors under parametric uncertainties with guaranteed stability

Abstract

This paper suggests an adaptive control scheme for quadrotors subjected to parametric uncertainties. The adaptive controller learns the quadrotor's inverse model using a Lyapunov adaptation law. For that, a robustness feedback loop is used to stabilize the quadrotor at start-up. Hence, precise motion control is obtained in the presence of parameter variations. Unlike other controllers, the stability and convergence of the proposed controller is analyzed by Lyapunov stability theory. The adaptive controller's ability to cope with parameter variations is illustrated in various operating conditions.