Attitude Control of a Quadrocopter Using Adaptive Control Technique

This paper presents an application of the MRAC (Model Reference Adaptive Control) techniques to achieve the attitude stabilization in an unmanned aerial vehicle (UAV) type quadrotor when there exists disturbances and/or uncertainties in the parameters due to changes in the payload, variations in battery voltage during flight, etc. This is achieved by performing an online adaptation of the controller parameters, which are obtained by showing the stability property of the closed loop control system using Lyapunov theory. Simulation results using Matlab-Simulink platform are presented to demonstrate the convergence of the controller parameters.