Adaptive Nonlinear Controller for the Trajectory Tracking of the Quadrotor with Uncertainties

This study presents the mathematical model of a quadrotor based on Newton-Euler equations and then proposes an adaptive backstepping sliding mode controller (ABSMC) to make the quadrotor system follows the desired trajectory without the knowledge of dynamic parameters. Therefore, the nominal law controls are based on BSMC and the parameter variations are estimated with adaptive rules. To estimate the mass and the moment's inertia of the quadrotor, an adaptive law is developed to measure its parameters. The tracking performance of the proposed outer and inner loops and stability is proven by the use of Lyapunov's theory that tracking errors converge asymptotically to the origin. In addition, the simulation results of the proposed BSMC is performed out MATLAB/Simulink.