{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T14:38:43Z","timestamp":1781102323947,"version":"3.54.1"},"reference-count":28,"publisher":"IGI Global Scientific Publishing","issue":"4","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2012,10,1]]},"abstract":"<p>The dynamics of UAV\u2019s have special features that can complicate the process of designing a trajectory tracking controller. In this paper, after modelling the quadrotor as a VTOL UAV, a nonlinear adaptive controller is designed to solve trajectory tracking problem in the presence of parametric and nonparametric uncertainties. This controller doesn\u2019t need knowing any physical parameters of the quadrotor, and there isn\u2019t need to retune the controller for various payloads. In this approach, the control of a quadrotor is performed by using decentralized adaptive controllers in the inner (attitude control) and outer (translational movement control) loops. The outer loop generates the instantaneous desired angles for inner loop. The inner loop stabilizes the orientation of the vehicle. Inverse kinematic of robot is used to convert outputs of the outer loop to inputs of the inner loop. The controller needs some unknown physical parameter to generate control signals. A robust parameter identifier estimates the required parameters for the outer control loops. Simulations are carried out to illustrate the robustness and tracking performance of the controllers.<\/p>","DOI":"10.4018\/ijimr.2012100105","type":"journal-article","created":{"date-parts":[[2013,2,6]],"date-time":"2013-02-06T13:11:29Z","timestamp":1360156289000},"page":"58-81","source":"Crossref","is-referenced-by-count":7,"title":["Modeling and Adaptive Tracking Control of a Quadrotor UAV"],"prefix":"10.4018","volume":"2","author":[{"given":"Mostafa","family":"Mohammadi","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alireza Mohammad","family":"Shahri","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Iran University, Tehran, Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zahra","family":"Boroujeni","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Iran University, Tehran, Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"2432","reference":[{"key":"ijimr.2012100105-0","author":"H.Asada","year":"1986","journal-title":"Robot analysis and control"},{"key":"ijimr.2012100105-1","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1225"},{"key":"ijimr.2012100105-2","unstructured":"Bouabdallah, S. 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(2010). Adaptive tracking control of underactuated quadrotor unmanned aerial vehicles via backstepping. In Proceedings of the American Control Conference, Baltimore, MD (pp. 2076-2081).","DOI":"10.1109\/ACC.2010.5531424"},{"key":"ijimr.2012100105-13","first-page":"555","author":"P.Ioannou","year":"1996","journal-title":"Robust adaptive control"},{"key":"ijimr.2012100105-14","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-009-0311-8"},{"key":"ijimr.2012100105-15","doi-asserted-by":"crossref","unstructured":"Madani, T., & Benallegue, A. (2008). Adaptive control via backstepping technique and neural networks of a quadrotor helicopter. 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