Asymptotic attitude tracking control for uncertain quadrotors based on enhanced controllability condition

In this work, we delve into the asymptotic attitude tracking control problem of a class of uncertain quadrotors, considering multiple kinds of uncertainties including unknown system parameters, unmodeled attitude dynamics, unforeseen external disturbances, and undetected actuator faults. By leveraging the intrinsic structural properties of quadrotors, we establish an enhanced controllability condition to reduce the conservativeness of current ones, upon which we design a robust adaptive tracking control scheme by using some easily computable “deep-rooted information” derived from the quadrotor model, which not only lets the attitude tracking errors reduce to zero asymptotically, but also remains the structural complexity at the same level compared with the results using traditional controllability conditions. Moreover, all the signals in quadrotor closed-loop prove to be ultimately uniformly bounded (UUB) and the effectiveness of our proposed approach is verified via numerical simulations.