An Adaptive Controller for Attitude Tracking of A Coaxial Tilt-Rotor UAV

In this paper, an attitude control strategy of a coaxial tilt-rotor unmanned aerial vehicle (CTRUAV) is designed with damping coefficient uncertainties. To complete the tracking of a reference attitude signal, a controller for the CTRUAV is presented which applies adaptive control via immersion and invarance (I&I) theory, where the I&I theory is used to deal with the uncertainty of damping coefficient. To analyzed the asymptotical stability of the resulting closed-loop system, the Lyapunov-based stability analysis and LaSalle’s invariance theorem are used. Finally, there are some simulation results which can verified the effectiveness of the designed control strategy.