Abstract
The problem of trajectory tracking of a quadrotor without using linear velocity measurements and with model parameter uncertainties is addressed in this paper. A linear observer is proposed to overcome the problem of a lack of linear velocity measurements. The proposed adaptive control algorithm exploits the cascade structure of the translational and attitude dynamics of the quadrotor and guarantees asymptotic convergence of the tracking and observer errors. The attitude control is designed based on the unit quaternion; thus, the well-known singularities of the Euler angles are avoided. Simulation results are presented to show the performance of the proposed control scheme.
Published Version
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