Adaptive Control for a Quadrotor with Ceiling Effect Estimate

This paper presents an adaptive solution for the control of a quadrotor operating close to the ceiling. The vicinity alters the flow resulting on a variation on the effective thrust. A force factor is estimated in real time using an adaptive mechanism. The full controller is proven to have global asymptotic stability with zero tracking error using Lyapunov theory. The resulting system is validated in simulation with approaching trajectories to the ceiling, and its robustness is shown for mass variations of up to 20%.