Yaw Channel Decoupled Geometric Adaptive Control of Quadrotor with Uncertainties

This paper provides a yaw channel decoupled geometric adaptive controller for a quadrotor Unmanned Aerial Vehicle (UAV), subject to the uncertainties of Center-of-Gravity (CoG) shift and unknown inertial parameters. Specifically, the attitude control system is decomposed into the controls for the total thrust direction and the yawing motion, and corresponding configuration manifold is the product of the two-dimensional unit sphere and the one-dimensional circle. Consequently, the proposed controller ensures smooth positional tracking while preventing large yaw deviations. Further, the uncertainties are compensated with prudently designed adaptive terms respectively. Numerical simulations are carried out to illustrate the tracking capacities.