Abstract
This paper deals with a control system design problem for a quadrotor with unknown parameters. An adaptive trajectory tracking control of quadrotor with an ASPR based high gain feedback strategy and adaptive method will be proposed by combining the backstepping strategy. In the proposed method, by introducing a parallel feedforward compensator (PFC) in the inner loop of the quadrotor control system, one can design a relatively simple controller compared with the method which directly applying backstepping strategy. The stability of the obtained adaptive tracking system will also be analyzed and the effectiveness of the proposed method will be confirmed through numerical simulations.
