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  1. This paper considers the formation flying of multiple quadrotors with a desired orientation and a leader. In the formation flying control, it is assumed that the desired formation is time-varying and there are the system uncertainty and the information uncertainty. In order to deal with different uncertainties, a backstepping-based approach is proposed for the controller design. In the proposed approach, different types of uncertainties are considered in different steps. By integrating adaptive/robust control results and Laplacian algebraic theory, distributed robust adaptive control laws are proposed such that the formation errors exponentially converge to zero and the attitude of each quadrotor exponentially converges to the desired value. Simulation results show the effectiveness of the proposed algorithms. Keywords: Quadrotor · Distributed control · Cooperative control · Leader–follower control · Formation control 
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  2. This paper considers the position and attitude tracking control problem of a vertical take-off and landing unmanned aerial vehicle with uncertainty and input constraints. Considering the parametric and non-parametric uncertainties in the dynamics of systems, a robust adaptive tracking controller is proposed with the aid of the special structure of the dynamics of the system. Considering the uncertainty and input constraints, a robust adaptive saturation controller is proposed with the aid of an auxiliary compensated system. Simulation results show the effectiveness of the proposed algorithms. 
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