Abstract
In the paper, we develop an adaptive tracking controller scheme for multirotor helicopter with unknown thrust and drag coefficients. At first, by using an unknown positive definite matrix and an unknown triangular matrix, we decompose the high frequency gain matrix in a tracking error equation. Next, based on the new tracking error equation, an adaptive tracking controller is developed. The developed controller does not require accurate values of the weight, moment of inertial of multi-copter, and the thrust and drag coefficients are also not required. Finally, to confirm the usefulness of the proposed controller, numerical simulations are carried out.
