Model Reference Adaptive Attitude Control of a Quadrotor Unmanned Aerial Vehicle

Abstract

This study explores the integration of the adaptive control approach with the Model Reference Adaptive Control (MRAC) method, with a view to examining the impact of this integration on the performance of dynamic systems. Adaptive control is highlighted as a versatile and robust methodology that enables systems to cope with uncertainties and adapt to rapidly changing conditions in their operating environments. As a branch of adaptive control, the MRAC method focuses on efficiently achieving desired performance objectives by adjusting system parameters based on a predefined reference model. The primary focus is on investigating how these methods can be applied to optimize the functionality of systems characterized by dynamic and variable nature, such as unmanned aerial vehicles. By addressing challenges related to uncertainties, disturbances, and adaptability, the integration of adaptive control with the MRAC method demonstrates significant potential in improving the robustness, responsiveness, and reliability of such systems. This research investigates the performance of adaptive techniques in enhancing the capabilities of modern control systems. The objective of the research is to assess the effectiveness of MRAC in terms of reference signal tracking. Simulation results demonstrate the ability of MRAC to maintain accurate tracking of the desired reference for key vehicle dynamics, including roll, pitch and yaw. The results demonstrate the robustness of the MRAC algorithm in attitude control, which may lead to support for sustainability issues such as energy consumption.