Adaptive control of a quadrotor with unknown model parameters

In this paper, we propose an adaptive feedback control law for asymptotic attitude & altitude stabilization of a quadrotor using feedback of body axis angular rates, absolute orientation with respect to the inertial frame, altitude and altitude rate. No knowledge of quadrotor model parameters i.e. inertia matrix and mass is assumed. Stability of adaptive control law is shown via Lyapunov arguments. Simulation results are presented to demonstrate convergence of controller parameters and asymptotically perfect attitude & altitude stabilization of a quadrotor.