DESIGN OF MODEL REFERENCE ADAPTIVE CONTROL FOR QUADROTOR UNMANNED AERIAL VEHICLE AT HOVERING CONDITION

Abstract

In this thesis, we have considered the detail dynamic and kinematics mathematical modeling of 6DOF quadrotor UAV VTOL. Quadrotors are brush less direct current motors important device in terms of mechanical design and aerodynamic configuration. Quadrotors are under actuated vehicle which have four inputs and six outputs. The nonlinear model of the quadrotor unmanned aerial vehicle is linearized using the jacobian method of linearization at the selected operating points. For controlling of roll, pitch and yaw and altitude subsystems of quadrotor at hovering point, we have designed four model reference adaptive control (MRAC) based on the gradient method of adaptation mechanism. The reference model for each subsystem of the quadrotor unmanned aerial vehicle were chosen with a very small overshoot and zero steady state error. So that the output of the plant model tracks the reference model output. Finally, the sustainability and success of the designed controller (MRAC) are tested by MATLAB Simulink platform simulations was perform for different adaptation gain. The values of adaptation gain from 10 up to 200 gives a satisfactory result based on the desired performance