Dastgerdi, Karim AhmadiAsadi, DavoodChashmi, Seyed Yaser NabaviTutsoy, Önder2025-01-062025-01-0620242548-039110.30931/jetas.1169518https://doi.org/10.30931/jetas.1169518https://search.trdizin.gov.tr/tr/yayin/detay/1237107https://hdl.handle.net/20.500.14669/694This paper presents a novel nonlinear robust adaptive trajectory tracking control architecture for stabilizing and controlling a quadrotor in the presence of actuator partial faults. The proposed control strategy utilizes an Incremental Nonlinear Dynamic Inversion (INDI) algorithm as the baseline controller in the inner loop and augments a nonlinear model reference adaptive controller in the outer loop to ensure robustness against unmodeled faults. Additionally, a modified PID controller is introduced in the most outer-loop to track the desired path. The effects of actuator faults are modeled by considering sudden variations in motor thrust and torques. To enhance the control algorithm's robustness, a projection operator is employed in the robust adaptive structure. Comparative performance evaluations with a previous successful algorithm implemented on a quadrotor model demonstrate that the proposed controller achieves full controllability of the faulty quadrotor in pitch, roll, and yaw channels in the presence of actuator partial faults up to 50%.eninfo:eu-repo/semantics/openAccessRobust adaptive controlincremental nonlinear dynamic inversionactuator faultArticle211112371079