Immersion and invariance based adaptive control of aerial robot in presence of inertia uncertainty

In this paper, Immersion and Invariance based adaptive backstepping control technique is proposed for an aerial robot. This aerial robot is a quadcopter which have nonlinear, multi-input multi-output, coupled and uncertain dynamics. Immersion and Invariance methodology is utilized to estimate parametric uncertainties and disturbance torques. Adaptive backstepping control technique is applied to stabilize attitude of quadrotor. Having compensate the nonlinear terms, this method guarantees the stability of closed-loop system and the references will be followed by the states accordingly. The performance of adaptive nonlinear control algorithms are evaluated by numerical simulations. Results demonstrate the effectiveness of proposed controller in stabilization particularly with large uncertainty in inertial matrix of quadrotor.