Adaptive Closed-Loop Identification and Tracking Control of an Aerial Vehicle with Unknown Inertia Parameters

In this paper, the problem of adaptive closed-loop parameter estimation and tracking control a six degree freedom (6-DOF) nonlinear quadrotor unmanned aerial vehicle (UAV) is studied. To manage complexity problem, system dynamics decomposed into two subsystems, i.e. translational rotational dynamics. A nested architecture adopted to develop both estimation. stabilize outer loop, virtual input proposed using proportional-derivative (PD) controller track x, y z positions. The UAV contains unknown inertia parameters appearing in structure as well dynamic term. An scheme designed certainty equivalence principle handle closed-loop. idea behind design cancel term inner loop by estimating parameters. stability whole proved with rigorous analytical study. Moreover, performance verified several numerical analyses.