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This paper introduces an analytical framework for the derivation of hybridequations of motion of a flexible quadrotor. This approach helps obtain rigidand elastic equations of motion simultaneously, in a decoupled form, whichfacilitates the controller design. A delay-dependent stability condition isobtained for the overall system dynamics, including the operator with reactiontime delay, the adaptive controller and the flexible quadrotor dynamics. Twodifferent adaptive controllers are implemented to address the uncertainties. Itis demonstrated via simulations that the flexible arm tip oscillations aremitigated when a closed loop reference model adaptive controller is used,compared to a conventional model reference adaptive controller.

Modeling, Control and Human-In-The-Loop Stability Analysis of an Elastic Quadrotor