Abstract
In this paper, the adaptive disturbance compensation control problem for a quadrotor aircraft with external bounded disturbance is addressed. An adaptive law is proposed to estimate the bounds of disturbances. Then an adaptive disturbances compensation control scheme is designed based on the estimations to achieve the control purpose of position tracking of the reference motion model. The dynamic and steady state performance of the four-rotor aircraft system can be further maintained. We theoretically prove the convergence of the closed-loop quadrotor aircraft system, and carry out numerical simulation to verify the effectiveness of the designed adaptive disturbance compensation control scheme.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
