Abstract

In this paper, a stable multivariable model reference adaptive control (MRAC) scheme is proposed for a four-rotor helicopter with unknown external disturbance. Firstly, the disturbance observer is designed to well monitor the unknown disturbance. And then, the adaptive controller is developed based on the disturbance observer to compensate the external disturbance and track the desired system states. Finally, the simulation results illustrate the effectiveness of the proposed adaptive control scheme.

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