Quaternion based adaptive control for package delivery using variable-pitch quadrotors

Quadrotors have enormous application in the area of automated delivery systems. In such scenarios, payload can vary with time, and cannot be tackled by traditional controllers. This work presents a nonlinear adaptive control design of a variable-pitch quadrotor. Sudden changes in mass and uncertainty in the rotational inertia of the quadrotor emphasizes the necessity for an adaptive control technique. Quadrotors with variable-pitch propellers are chosen as they provide higher rate of change of thrust and inverted flight capabilities. MATLAB environment is utilized to show a drone-delivery simulation along with trajectory tracking and inverted flight.