Adaptive Control of Quadrotor Unmanned Aerial Vehicle With Time-Varying Uncertainties

Imil Hamda Imran, Rustam Stolkin, Allahyar Montazeri*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Scopus citations


This paper studies the real-time parameter estimation and adaptive tracking control problem for a six degrees of freedom (6-DOF) of quadrotor unmanned aerial vehicle (UAV) as an under-actuated system. A virtual proportional derivative (PD) is proposed to maintain position dynamics. Two adaptive control schemes are designed and compared to maintain the attitude dynamics of UAV while several parameters of UAV are unknown. In the first scheme, a classical adaptive scheme using the certainty equivalence principle is extended and designed for tracing control of the systems with unknown time-varying parameters. To improve the performance of the first scheme, a new control scheme is designed in the second scheme by proposing additional continuous function to handle the unknown parameters. An additional robust term is designed in both schemes to handle the perturbation caused by unknown time-varying parameters. The rigorous analytical proof and numerical simulation analysis are provided to support the efficacy of the proposed controller.

Original languageEnglish
Pages (from-to)19710-19724
Number of pages15
JournalIEEE Access
StatePublished - 2023

Bibliographical note

Publisher Copyright:
© 2013 IEEE.


  • Quadrotor
  • adaptive control
  • certainty equivalence principle
  • classical adaptive scheme
  • unknown time-varying parameter
  • unmanned aerial vehicle

ASJC Scopus subject areas

  • General Engineering
  • General Materials Science
  • Electrical and Electronic Engineering
  • General Computer Science


Dive into the research topics of 'Adaptive Control of Quadrotor Unmanned Aerial Vehicle With Time-Varying Uncertainties'. Together they form a unique fingerprint.

Cite this