Multivariable MRAC for a quadrotor UAV with a non-diagonal interactor matrix

Abstract

An adaptive control design is presented in this paper for quadrotor systems working at non-equilibrium operating conditions under parameter uncertainties. The motivation of the work is to handle the situation that existing control schemes are either restricted to the system equilibrium as the hover condition or unable to deal with the system uncertainties. The key information for the design of a model reference adaptive controller is investigated at a non-equilibrium operating condition, which are the interactor matrix and the signs of the leading principal minors of associated high-frequency gain matrix. An adaptive controller is constructed to ensures the signal boundedness of the closed-loop system and asymptotic output tracking. The proposed scheme expands the capacity of adaptive control for quadrotors to fly with high speed in the presence of system uncertainties.