Adaptive maneuvering control of a quadrotor UAV using double dynamic filters

This paper proposes an adaptive maneuvering control for a quadrotor unmanned aerial vehicle with position constrained by geometric equations and unknown parameters. Based on the structural characteristics of the quadrotors, the inner–outer-loop controller is designed for two cascaded subsystems to solve the maneuvering problem of the position subsystem and the Euler angle tracking problem of the attitude subsystem. Meanwhile, double dynamic filters are incorporated into the the inner-loop control to eliminate the coefficient explosion problem of virtual signal differentiation. By treating the coupling term as a perturbation, the semi-global practical stability of the closed-loop system is established. Finally, the effectiveness of the obtained results are demonstrated by numerical simulations.