The interest in multirotor systems has significantly increased over the last decade, with considerable further potential application scenarios in the future. Multiple adaptive control strategies have been developed to account for uncertainties and disturbances during operation. In this paper, we derive an adaptive backstepping position controller by utilizing the tuning functions methodology. This allows compensating for both matched and unmatched disturbances in the system. Asymptotic stability of the reference model is proved with Lyapunov's second method. The derived control laws are implemented and finally validated during flight tests with a hexacopter system.     «

The interest in multirotor systems has significantly increased over the last decade, with considerable further potential application scenarios in the future. Multiple adaptive control strategies have been developed to account for uncertainties and disturbances during operation. In this paper, we derive an adaptive backstepping position controller by utilizing the tuning functions methodology. This allows compensating for both matched and unmatched disturbances in the system. Asymptotic stability...     »