Adaptive Feedback Linearization for Altitude and Attitude Control of a Quadrotor Under Parameter Uncertainty

This paper presents an adaptive feedback linearization controller for the altitude and attitude control of a quadrotor. Feedback linearization is employed to linearize the quadrotor dynamics, enabling a systematic closed-loop control system design. The nominal inertial and drag parameters are identified using a bifilar pendulum experiment. A real-time gradient-based adaptation mechanism tunes the controller gains to compensate for parameter uncertainties. Simulation results demonstrate that the adaptive feedback linearization controller ensures accurate trajectory tracking despite significant parameter variations.