Quadrotors are a type of Unmanned Aerial Vehicles (UAVs) that have unique features compared to other ones, including flying ability of vertical take-off and landing, flight in small environments and high maneuverability, the ability to implement and test a variety of control methods. Equations of position and angles of quadrature are nonlinear equations in the strict feedback form. Given that in many cases the parameters in the quadrature equations are uncertain, adaptive control is one of the suitable methods for controlling this system. To control the quadrature position automatically, a good feedback should be available from its position. For this purpose, image processing is usually used to measure the position of the quadrature. Therfore coordinates x and y and z of the quadrotor are measured by cameras with a good precision. The main problem with this method is in transfering. This delay is considered as a delay in the quadrature input. The main problem in the stability of input delay systems is the existence of time lag in system input. Therefore, the goal in this thesis is to control the position of the quadrature system by considering of the delay in the input and the uncertainty of the system parameters. To solve this problem, a term consist of the integral of the input in the time delay range adds to the system error equations. In this case, the controller can compensate for the input time delay by estimating the system’s uncertain parameters and using this integral input term in the definition of the error signal. Also in this research, a control based on the sliding surface with the input integral compensator is proposed. It is proved that the error defined in this method converges to zero, despite the existence of time delay and the parameters uncertainities. Simulation results show that by using this controller, the system position tracks the refrence position in the present of disturbance. Key Words : 1- Quadrotor 2- Strictly feedback 3- Time delay systems 4- Adaptive control 5- Sliding surface
