Adaptive control of a quadrotor with uncertain parameters
228 viewsDOI:
https://doi.org/10.54939/1859-1043.j.mst.92.2023.30-37Keywords:
Aerial Vehicle; Quadrotor; Speed-gradient; Adaptive control; Uncertain parameters.Abstract
This paper presents the results of synthesizing a control law for position tracking and stabilization of an unmanned aerial vehicle (UAV) in the form of a quadrotor, using a speed-gradient method in an adaptive control algorithm that adapts to uncertain changes in parameters. Simulation results in MATLAB/SIMULINK with an assumed quadrotor model demonstrate that using the adaptive controller helps the quadrotor operate stably and track the desired trajectory in cases of uncertain quadrotor parameters.
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