Decentralized Robust Direct Mrac via E-Modification for the Pose of a Quadrotor UAV

In this paper, a decentralized robust direct model reference adaptive controller (MRAC) is suggested for the pose control of a quadrotor unmanned aerial vehicle (UAV) in order to prevent parameter drift. The governing equations of motion referred to the rotational system of the quadrotor UAV are parameterized, in terms of a matched uncertainty by the control input, in a decentralized way from the angles of motion, where bounded perturbations are also considered. An error-dependent damping term in the update law is added to enforce robustness. Uniform ultimate boundedness of the tracking error signal is ensured. The translational dynamics are governed through a linear PID control. The performance of the decentralized robust MRAC scheme here proposed is assessed via simulation results.