Mohammad Reza Zarrabi - Department of Applied Mathematics‎, ‎School of Mathematics and Computer Science‎, ‎Damghan University‎, ‎Damghan‎.

Drones are among the most valuable and versatile technologies in the world‎, ‎with applications in a vast number of ‎‎‎fields such as traffic control‎, ‎agriculture‎, ‎firefighting and‎ ‎rescue‎, ‎and filmmaking‎, ‎to name a few‎. ‎As the development of unmanned aerial vehicles (UAVs) accelerates‎, ‎the‎ ‎safety of UAVs becomes increasingly important‎. ‎In this paper‎, ‎a robust adaptive controller is designed to improve the safety of a hexa-rotor UAV‎, ‎and a robust adaptive controller is developed to control our system‎. ‎In doing so‎, ‎the wind parameters from the aerodynamic forces and moments acting on the hexa-rotor are estimated using an observer with the adaptive algorithm‎. ‎This proposed controller guarantees stability and reliable function in the midst of parametric and non-parametric uncertainties‎. ‎The process's global stability and tracking convergence are investigated using the Lyapunov theorem‎. ‎The performance and effectiveness of the proposed controller are tested through two simulation studies‎, ‎which take into account external disturbances that are a function of time.

Hexa-rotor‎, ‎Adaptive control‎, ‎Lyapunov function‎, ‎Adaptive law‎, ‎Trajectory tracking