Adaptive control over quadcopter UAV under disturbances

This paper is concerned with adaptive compensation for position tracking error of quadrotor UAVs. We propose an adaptive compensation scheme which effectively reduces errors in tracking desired position along X- and Y-axis in the presence of constant disturbance. The proposed control strategy is verified through extensive computer simulations. Implementation of the designed adaptive compensator allowed to reduce tracking error by a factor of 3 and can be effectively used in practical quadcopters.