Design and performance evaluation of model reference controller for unmanned aircraft

This paper presents the design of discrete-time controller based on Dynamic Contraction Method for unmanned aircraft. The control task is formulated as a tracking problem of roll angle where desired output transients are accomplished despite incomplete information about varying parameters of the system and external disturbances. In addition, desired dynamic properties determined by a reference model are required. Experiment results for tracking a reference signal are presented, and confirmed the effectiveness of the proposed method and theoretical expectations.