Abstract
Focusing on uncertain aerodynamic coefficients which characterize the thrust and torques, an adaptive controller for a four-rotor mini helicopter is designed based on Immersion and Invariance (I&I) approach. In order to deal with the complex multivariable parameter adaptation, a relatively simple model parameterized with respect to a few unknown coefficients is developed. It is shown that the adaptive controller is capable of estimating not only the unknown parameters but also external torque disturbances and rejecting them. Numerical simulation illustrates robustness of the controller against the parametric uncertainties and external moment disturbances.
