author={Bara J. Emran and Aydin Yesildirek},
  journal={International Journal of Digital Information and Wireless Communications},
A robust nonlinear composite adaptive control algorithm is done for a 6-DOF quadrotor system. The system is considered to suffer from the presence of parametric uncertainty and noise signal. The under-actuated system is split to two subsystems using dynamic inversion. A sliding mode control is controlling the internal dynamics while the adaptive control is controlling the fully actuated subsystem. All the plant parameters such as mass, system inertia, thrust and drag factors are considered as… 

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