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This paper proposes an adaptive tracking strategy with mass-inertiaestimation for aerial transportation problems of multi-rotor UAVs. The dynamicmodel of multi-rotor UAVs with disturbances is firstly developed with alinearly parameterized form. Subsequently, a cascade controller with the robustintegral of the sign of the error (RISE) terms is applied to smooth the controlinputs and address bounded disturbances. Then, adaptive estimation laws formass-inertia parameters are designed based on a filter operation. Suchoperation is introduced to extract estimation errors exploited to theoreticallyguarantee the finite-time (FT) convergence of estimation errors. Finally,simulations are conducted to verify the effectiveness of the designedcontroller. The results show that the proposed method provides better trackingand estimation performance than traditional adaptive controllers based onsliding mode control algorithms and gradient-based estimation strategies.

RISE-Based Adaptive Control with Mass-Inertia Parameter Estimation for Aerial Transportation of Multi-Rotor UAVs