Decentralized MRAC with Integral Action for Attitude Control of a Quadrotor UAV

摘要

In this paper, a decentralized model reference adaptive control (MRAC) with integral action scheme is proposed in order to achieve the attitude control task for a quadrotor unmanned aerial vehicle (UAV). The nonlinear model for the quadrotor UAV is decomposed in the rotational and altitude systems. Then, a second order subsystem for each attitude angle is extracted from the rotational system dynamics. Thus, under the assumption that a linear-in-the-parameters model for each subsystem can be defined, each subsystem is represented by a parameterized model from which a MRAC with integral action is designed. A PID controller is implemented for altitude control. The performance of our decentralized adaptive control with integral action scheme is validated via simulation results taking into account parametric variations, noise in the measurements and external perturbations.