Commanded Filter-Based Robust Model Reference Adaptive Control for Quadrotor UAV with State Estimation Subject to Disturbances

• Published in: Drones (Basel) Vol. 9; no. 3; p. 181
• Main Authors: Ahmed, Nigar, Alrasheedi, Nashmi
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 28.02.2025
• Subjects: adaptive control; aggressive trajectory tracking; Aircraft maneuvers; commanded filter; Compensators; Control algorithms; Control systems; Controllers; Design; disturbance observer; Disturbance observers; Drone aircraft; Ground stations; High gain; Mathematical analysis; Model reference adaptive control; Modelling; Robust control; Sensors; Sliding mode control; Stability analysis; State estimation; state observer; State observers; State variable; Tracking; Trajectories; UAVs; Uncertainty; Unmanned aerial vehicles; China

Unmanned aerial vehicles must achieve precise flight maneuvers despite disturbances, parametric uncertainties, modeling inaccuracies, and limitations in onboard sensor information. This paper presents a robust adaptive control for trajectory tracking under nonlinear disturbances. Firstly, parametric...