Direct Adaptive Feedback Linearization for Quadrotor Control

in practice, this work derives a direct nonlinear adaptive control method. The method is proven to be asymptotically stable using an argument based on the Lyapunov theory. The controller is shown to be eective at tracking aggressive nonlinear trajectories using a comprehensive nonlinear model of a quadrotor helicopter. It is also shown to be robust to initial parameter errors, random changes in parameters during ight and external disturbances.