Randomized approaches and adaptive control for quadrotor UAVs

In this paper a systematic mixed deterministic-randomized approach for adaptive filter design is presented. This method has two advantages: (i) it is a computational efficient algorithm for the deterministic parameters and (ii) we can design fixed order controllers because we follow a randomization approach. Different filter forms are selected to prove the effectiveness of this algorithm and the obtained results are applied to a multi rotor UAV. Both linear and experimental models are analyzed. With this filter the designed controller permits to minimize the noise due to the coupling between the control axes. This design is useful to reduce the set up time of the filter when the platform to be controlled is changed.