Adaptive Trajectory Tracking Control of Quadrotor UAV Under Turbulent Winds via Fully Actuated System Approach

This paper investigates the application of the fully actuated system approach in trajectory tracking control of quadrotor aircraft, focusing on its performance under turbulent wind disturbances. A nonlinear quadrotor model with turbulent wind disturbances is first constructed and decomposed into horizontal position and altitude-attitude subsystems. Based on this model, a control strategy integrating feedback linearization and adaptive control is proposed. The nominal controller uses feedback linearization to stabilize the linear decoupled system while incorporating disturbance rejection terms to eliminate interference. The adaptive controller estimates and compensates for unknown parameters and disturbances in real-time via designed parameter adaptation laws, addressing system uncertainties effectively. Simulation results demonstrate that the proposed controller ensures boundedness of closed-loop signals and asymptotic tracking of reference trajectories, verifying its effectiveness under turbulent wind disturbances.