Robust adaptive attitude control of quadrotors with load uncertainties

In this paper, we address problems that can occur during load transport using Unmanned aerial vehicles (UAVs). To begin with, a detailed model of a quadrotor carrying a fixed load with the Center of Gravity (CoG) changes of the transportation system is derived. Then, this problem is solved using robust adaptive attitude control for dynamical uncertaintites in the center of gravity of the quadrotor. Effectiveness of this method is demonstrated by numerical simulations and experiments.