Global Asymptotic Position and Heading Tracking for Multirotors Using Tuning Function-Based Adaptive Hybrid Feedback

This letter considers the problem of global asymptotic position and heading tracking for multirotors. We propose a hybrid adaptive feedback control law that globally asymptotically tracks a position and heading reference in the presence of unknown constant disturbances in both the translational and rotational dynamics. By employing a tuning function-based backstepping approach, the number of parameter estimates are minimized. Moreover, we propose a novel control law for the translational subsystem, which leads to a simpler virtual control law when backstepping. Global asymptotic heading tracking is achieved through a novel construction of the desired rotation matrix. The theory is verified through experiments on a quadrotor.