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Robust Immersion and Invariance Adaptive Control with Disturbance Observer for a Quadrotor UAV*

In this paper, a robust immersion and invariance (I&I) adaptive control with disturbance observer (DO) is proposed for an uncertain quadrotor unmanned aerial vehicle (UAV) subjected to disturbance. The parametric uncertainties in both position loop and attitude loop of a quadrotor are compensated by I&I adaptation laws, while the disturbances in the attitude loop are attenuated by a constructed disturbance observer. The ultimate boundedness of the attitude tracking errors and the satisfying trajectory tracking performance of the quadrotor are guaranteed by the presented control law with stringent proof. Physical experiment results are carried out to illustrate the effectiveness of the proposed control law.