Robust Adaptive Trajectory tracking Control of a Class of Disturbed Quadrotor Aircrafts

This paper explores an approach tracking the trajectory of a class of quadrotor aircrafts based on robust adaptive control against bounded disturbances by compensating for the perturbations. According to the Lyapunov stability theorem, the attitude tracking controller is achieved by using the backstepping technique. A simulation example is illustrated to verify the effectiveness of the designed position trajectory tracking controller and robust adaptive attitude trajectory tracking controller.