A combined model reference adaptive control law for multirotor UAVs

Model reference adaptive control (MRAC) offers the potential to adapt in real-time changes performance of small unmanned air vehicles. There are significant challenges with their use, however, primarily implementation and assurance long-term system stability. This paper presents flight test results for a combined model (CMRAC) law applied height loop multirotor. Key features include CMRAC baseline controller allowing in-flight switching between two; use an augmented state improve tracking that provides shorter transient phase, faster parameter convergence, closer desired response when compared standard MRAC. With current exponential growth interest vehicles, benefits using development significant, particularly new vehicles short testing phases cases where there configuration or prior rapid deployment.