Title: Model reference adaptive control of a quadrotor: simulation and flight tests

Authors: Demet Canpolat Tosun; Yasemin Işık

Addresses: Department of Avionics, Faculty of Aeronautics and Astronautics, Eskişehir Technical University, Avionics, 26555, Eskişehir, Turkey ' Department of Avionics, Faculty of Aeronautics and Astronautics, Eskişehir Technical University, Avionics, 26555, Eskişehir, Turkey

Abstract: The aim of this study is to design and implement a model reference adaptive control system for a quadrotor. The quadrotor model is the Qball-X4, a testbed developed by Quanser Inc. For control purposes, the mathematical model of the quadrotor is examined in detail. The simulation studies are performed using the mathematical model and appropriate controller parameters in the MATLAB/Simulink simulation environment. Different reference models and adaptation rates are tested according to the model reference adaptive control procedure. After obtaining satisfactory results in the simulation environment, the purposed control system is implemented on the real system. The motion of the vehicle in the X, Y, and Z axes is observed and the results are presented with graphics for different flight tests.

Keywords: model reference adaptive control; MRAC; Qball-X4; MATLAB/Simulink; reference model; adaptation rate; motion control.

DOI: 10.1504/IJSA.2023.132118

International Journal of Sustainable Aviation, 2023 Vol.9 No.3, pp.220 - 239

Received: 23 Sep 2022
Accepted: 24 Dec 2022
Published online: 11 Jul 2023 *

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