Robust adaptive quadrotor position tracking control for uncertain and fault conditions

Artuc M. B., Bayezit İ.

Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2023 (SCI-Expanded) identifier

  • Publication Type: Article / Article
  • Publication Date: 2023
  • Doi Number: 10.1177/09544100231181869
  • Journal Name: Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Aerospace Database, Applied Science & Technology Source, Communication Abstracts, Compendex, INSPEC, Metadex, Civil Engineering Abstracts
  • Keywords: Adaptive control, adaptive two-stage Kalman filter, fault detection and diagnosis, fault-tolerant control, model reference adaptive control, quadrotor vehicle
  • Istanbul Technical University Affiliated: Yes


The combination of nonlinear indirect and direct adaptive control with an active fault-tolerant framework is proposed in this paper for quadrotor position tracking control under uncertain and fault conditions. An inner loop direct model reference adaptive controller generates the required force while moving along the reference trajectory, while nonlinear indirect adaptive controller maintains the required attitude angles. Furthermore, for uncertain conditions, our proposed framework provides significantly stable characteristics. Otherwise, when a fault occurs at actuators or sensors, the quadrotor vehicle cannot guarantee global asymptotic stability. This study contributes to an active fault-tolerant control strategy for solving the complex position tracking problem using the adaptive two-stage Kalman filter (ATSKF). Based on the fault information, a fault compensation term is added to the control law to improve convergence and system robustness in the presence of uncertain and fault conditions. Finally, simulation results show satisfactory performance for quadrotor vehicle position tracking, even with actuator faults and uncertainties.