This paper considers the position and attitude tracking control of a quadrotor with inertia parameter uncertainty. With the aid of the cascade structure of the dynamics of the system, an immersion and invariance observer is proposed to estimate the unknown mass of the system first. Secondly, a saturation controller is designed for the thrust force. Thirdly, a virtual controller is proposed for the angular velocity of the quadrotor with the aid of a nonlinear transform of the Euler angles. Finally, adaptive and robust controllers are proposed for the torque input of the quadrotor to deal with the unknown inertia moment of the system. Simulation results show the effectiveness of the proposed algorithms.

中文翻译：

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参数不确定性的垂直起降车辆的跟踪控制

考虑具有惯性参数不确定性的四旋翼的位置和姿态跟踪控制。借助于系统动力学的级联结构，提出了一个浸入式和不变性观测器来首先估计系统的未知质量。其次，为推力设计了一个饱和控制器。第三，在欧拉角的非线性变换的基础上，提出了一种用于四旋翼角速度的虚拟控制器。最后，针对四旋翼的转矩输入提出了自适应鲁棒控制器，以应对系统未知的惯性矩。仿真结果表明了所提算法的有效性。