  In this paper an adaptive sliding mode control approach for a quadrotor
stabilization and trajectory tracking is presented. The closed loop control
consists of three parts; the first part is quadrotor altitude and attitude
stabilization, and trajectory tracking. Second part is used for parameters
estimation where we focus in mass estimation, while the third part is the full
states observation. Disturbances, sensors noise and parameter uncertainties,
are taken into consideration. Sliding mode control law and observer adaptation
are developed based on Lyapunov stability principle. Numerical simulations show
the effectiveness of the proposed control technique
