Direct adaptive control of quadrotor attitude with the implicit reference model

Abstract

In the paper, the results of  the Passification Method with the Implicit Reference Model 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 various control algorithms in the laboratory area with a small space and promptly make changes in the cases of failure. The experimental results are presented, demonstrating efficacy of the applied simple adaptive control scheme, good performance quality of the closed-loop system and high adaptation rate of the controller.