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.

In this paper, a fault-tolerant output feedback maneuvering control scheme with prescribed performance for a class of random Euler–Lagrange systems with unmeasurable velocity and actuator faults is presented. First, an adjustable velocity observer is ingeniously constructed without additional dynamic compensation signals. Second, a projection operator is used to estimate the actuator fault factors. Based on the designed observer and projection operator, a static controller is designed to address geometric tasks with performance constraints, while a dynamic controller is developed to achieve speed allocation tasks. Finally, the effectiveness of the proposed control method is demonstrated through an illustrative example involving a two-link robotic system operating in a random environment.