Passification based simple adaptive control of quadrotor attitude: Algorithms and testbed results

Abstract

In the paper, the results of the Passification Method with the Implicit Reference Model (IRM) approach are applied for designing the simple adaptive controller for quadrotor attitude. The IRM design technique makes it possible to relax the matching condition, known for habitual MRAC systems, and leads to simple adaptive controllers, ensuring fast tuning the controller gains, high robustness with respect to nonlinearities in the control loop, to the external disturbances and the unmodeled plant dynamics. For experimental evaluation of the adaptive systems performance, the 2DOF laboratory setup has been created. The testbed allows to safely test new control algorithms in the laboratory area with a small space and promptly make changes in cases of failure. The testing results of simple adaptive control of quadrotor attitude are presented, demonstrating efficacy of the applied simple adaptive control method. The experiments demonstrate good performance quality and high adaptation rate of the simple adaptive control system.