NONLINEAR COMPOSITE ADAPTIVE CONTROL FOR QUADROTOR COPTER

A nonlinear composite adaptive control al gorithm is done for a 6-DOF quadrotor system. The under-actuated system is divided to two subsystems using dynamic inversion. Sliding mode control is controlling the internal dynamics while the adaptive control is controlling the fully actuated subsystem. The plant parameters such as mass, system inertia, thrust and drag factors are considered as fully unknown and vary with time. The composite adaptive control is driven using the information from both the tracking error and the parameter error. The stability of the closed-loop system is shown in the flight region of interest. Also the performance of the proposed controller is illustrated to follow a desired position, velocity, acceleration and the heading angle of quadrotor despite the fully unknown parameters.