Adaptive nonlinear relative motion control of quadrotors in autonomous shipboard landings

•Relative pose kinematics and dynamics are modeled in quadrotor’s body-fixed frame.•Landing site on the deck is considered in the relative position modelling.•Controllers for the position approaching and vertical landing phases are designed.•Control singularity of quadrotors is avoided in the position approaching phase.•Position tracking error and terminal landing attitude-altitude error are bounded.