Decentralized adaptive stabilization control for a quadrotor UAV

In this paper attitude and altitude of a quadrotor Unmanned Aerial Vehicle is stabilized by Decentralized Adaptive control scheme. Parametric uncertainty beside unmodeled dynamics are two main factors that cause the control of this mechanical underactuated nonlinear Multi Input Multi Output (MIMO) become more challenging. Variable payloads in different missions and decreasing voltage of battery during flight time lead to low efficiency of simple controller with constant coefficients in various conditions. Decentralized adaptive controller, which is synthesized based on improved Lyapunov-based Model Reference Adaptive Control (MRAC) technique, is suggested to solve the problem. The controllers consist of proportional derivative terms plus auxiliary term with variable coefficient. Experimental results validate the efficiency and robustness of the suggested controller.