Quad-rotors Unmanned Aerial Vehicle Stability Augmentation Model Reference Adaptive Control
Abstract— The Quad-Rotors UAV is a complex nonlinear under actuated system. It may afflict with the
wind disturbance, sensor noise and model uncertainty exists when flying outdoor. These problems bring
many difficulties to the controller design. For the real system, there are lots of constraints to the control
quantity output, such as the driven capability of the actuator. In this paper, a new method which is called
Stability Augmentation Model Reference Adaptive Control (SAMRAC) is proposed to deal with these
difficulties. Firstly, by analyzing and simplifying the dynamic model, we attribute the system to a double
integrator characteristic. Using the stability augmentation module, the poly of the system can be stabilized in
the stable area in the complex plane. In order to insure the tracking performance of the UAV, the model
reference adaptive control method has been introduced. The simulation results proved that this control
strategy is more robust and effective on rejection of uncertainty and external disturbance contrary to the
normal PID controller. Especially, the control quantity output is much small and smooth.
Index Terms— The Quad-Rotors UAV, Stability Augmentation Model Reference Adaptive Control
Gang Chen, Dawei Zhao, Rujuan Wang
College of Humanities & Sciences of Northeast Normal University, CHINA
Cite: Gang Chen, Dawei Zhao, Rujuan Wang, "Quad-rotors Unmanned Aerial Vehicle Stability Augmentation Model Reference Adaptive Control," Proceedings of 2019 the 9th International Workshop on Computer Science and Engineering, pp. 977-982, Hong Kong, 15-17 June, 2019.