Robust Adaptive Control for Fully Actuated Hexa‐Rotors Without Precise Knowledge of Rotor Poses

ABSTRACT The control of fully actuated hexa‐rotors is highly dependent on their physical parameters, especially those describing the rotors' positions and orientations. Uncertainties in these parameters significantly affect the performance of classical control approaches, particularly in small drones, where manufacturing tolerances amplify these uncertainties. To address this challenge, we propose a novel adaptive and robust control strategy that compensates for parameter uncertainties and external disturbances without requiring precise prior knowledge of the rotor poses. Unlike existing methods, our approach explicitly incorporates motor dynamics into the control design, resulting in a more realistic and implementable framework. Using Lyapunov‐based stability analysis, we demonstrate the global asymptotic stability of the proposed control system under parameter uncertainties and disturbances. Extensive simulations validate the efficacy of our method, showcasing superior tracking performance and robustness compared to conventional controllers. This work represents a significant step toward enabling fully actuated multi‐rotor UAVs to perform in real‐world scenarios with uncertain and dynamic environments.