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This paper presents an adaptive robust nonlinear control method, whichachieves reliable trajectory tracking control for a quadrotor unmanned aerialvehicle in the presence of gyroscopic effects, rotor dynamics, and externaldisturbances. Through novel mathematical manipulation in the error systemdevelopment, the quadrotor dynamics are expressed in a control-oriented form,which explicitly incorporates the uncertainty in the gyroscopic term andcontrol actuation term. An adaptive robust nonlinear control law is thendesigned to stabilize both the position and attitude loops of the quadrotorsystem. A rigorous Lyapunov-based analysis is utilized to prove asymptotictrajectory tracking, where the region of convergence can be made arbitrarilylarge through judicious control gain selection. Moreover, the stabilityanalysis formally addresses gyroscopic effects and actuator uncertainty. Toillustrate the performance of the control law, comparative numerical simulationresults are provided, which demonstrate the improved closed-loop performanceachieved under varying levels of parametric uncertainty and disturbancemagnitudes.

Adaptive Modified RISE-based Quadrotor Trajectory Tracking with Actuator Uncertainty Compensation