Passivity-based method for quadrotor control

In the paper we consider the passification-based adaptive control system for stabilization of a quadrotor. We propose an algorithm of altitude and rotation angle which does not require any information about the parameters of the quadrotor. Also our algorithm takes into account the mutual influence of the quadrotor's pitch and roll. We designed the stabilization system using PD-controller and feedback linearization method. Results of simulation are presented and compared with results of two alternative methods.