Research on adaptive attitude control of quadrotor UAV

The classical control algorithm for the control of quadrotor UAV in complex environments is undesirable, takes long for adjusting, response overshoot is large even oscillating. It is difficult to ensure a stable flight. However the adaptive control can quickly adjust the object to the equilibrium state. Considering the problem that some parameter of a quadrotor may be changed in some complex or external jamming flight environment, herein an adaptive control scheme with feed-forward and feedback control structure is proposed. It can effectively suppress and eliminate the influence of the change of inertia, and improve the system's anti-interference ability and self-adjustment ability. The testing results show the effectiveness of the control method, and achieve good control performance when the inertia changes.