Luxor, EGYPT ROBUST MODEL REFERENCE ADAPTIVE CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE
نویسندگان
چکیده
Quadrotors are growing rapidly in popularity for use as platforms for robotics research worldwide. This paper describes the development of a robust model reference adaptive controller to a quadrotor unmanned aerial vehicle. Some signi cant characteristics of the system's dynamics are derived for system uncertainties in the case of partial actuator failures. A comparison between the adaptive controller and a linear controller is conducted using simulations. The adaptive controller is found to be more robust to parametric uncertainties. Robust modi cations are made to the adaptive laws to combat against instability phenomenons that occur in the adaptive controller.
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