Robust adaptive quadrotor position tracking control for uncertain and fault conditions

M. Bugrahan Artuc, Ismail Bayezit*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


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.

Original languageEnglish
Pages (from-to)3172-3184
Number of pages13
JournalProceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
Issue number14
Publication statusPublished - Nov 2023

Bibliographical note

Publisher Copyright:
© IMechE 2023.


  • Adaptive control
  • adaptive two-stage Kalman filter
  • fault detection and diagnosis
  • fault-tolerant control
  • model reference adaptive control
  • quadrotor vehicle


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