Decentralized Robust Direct MRAC for the Attitude of a Quadrotor UAV
Francisco Jurado · IntechOpen eBooks · 2024
In this chapter, in order to prevent the parameter drift in the adaptive control of the attitude for a quadrotor unmanned aerial vehicle (UAV), a decentralized robust direct model reference adaptive controller (MRAC) is proposed. The dynamic model for the quadrotor UAV referred to as the rotational system is parameterized in a decentralized way, that is, for each one of the angles of motion, in terms of a matched uncertainty by the control input and considering the presence of bounded perturbations. A modification on the update law to enforce robustness is implemented in the design of the proposal. A linear PID controller is considered for the control of the translational dynamics. The performance of the decentralized robust direct MRACs is evaluated via numerical simulation results.