Robust Adaptive Trajectory Tracking Control for Uncertain Quadrotor Unmanned Aerial Vechicles in the Presence of Actuator Saturation

This paper studies the trajectory tracking problem for an uncertain quadrotor unmanned aerial vehicles (UAVs) subject to actuator saturation. Taking uncertainties into account, the adaptive laws of mass and moments of inertia are designed so that their prior knowledge is not required. To handle the actuator saturation, the input error systems are constructed. A robust adaptive control strategy with an inner-outer loop structure is proposed to stabilize the input error systems. Our control scheme ensures the tracking errors are uniformly bounded in the presence of actuator saturation. The numerical simulations verify the effectiveness of our control strategy.