Robust Nonlinear Composite Adaptive Control of Quadrotor

A robust nonlinear composite adaptive control algorithm is done for a 6-DOF quadrotor system. The system is considered to suffer from the presence of parametric uncertainty and noise signal. The under-actuated system is split to two subsystems using dynamic inversion. A sliding mode control is controlling the internal dynamics while the adaptive control is controlling the fully actuated subsystem. All 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 two errors; tracking error and prediction error. An enhancement on the adaptive control has been done using robust technique to reject the presence of the noise. The stability of the closed-loop system is driven in the flight region of interest. Also the performance of the designed controller is illustrated to follow a desired position, velocity, acceleration and the heading angle of quadrotor despite the fully unknown parameters and noise measurement.