Robust Model Reference Adaptive Control for Tail-Sitter VTOL Aircraft

This study presents a control design of roll motion for vertical take-off and landing unmanned air vehicle (VTOL-UAV) based on the Model Reference Adaptive Control (MRAC) scheme in hovering flight phase. The adaptive laws are developed UAV system under nonparametric uncertainty (gust wind disturbance). Lyapunov-based stability analysis controlled has been conducted have accordingly developed. Uniform Ultimate Boundness (UUB) tracking error proven showed that incorporation dead-zone modification could guarantee uniform boundness all signals. computer simulation proposed controller motion. results show drift, which appears estimated gain behaviors due to application gust disturbance, be stopped by introducing laws, leads better robustness characteristics controller.