L1 — Adaptive control based inner control loops of a slybird MAV

This paper presents design of L1 — adaptive control based inner loop control with state feedback for Unmanned Aerial Vehicles (UAV's). The control over the internal dynamics of the system can be achieved using L1 — adaptive control with state feedback. The robust adaptive control adapts to the changes in system dynamics and facilitates improved command tracking for UAV's. It avoids high frequency oscillations entering into the UAV system. The performance bounds of the UAV can be improved by increasing adaptation rates. The pitch and roll tracking control loops are designed using linear models and analyzed for possible failures. The simulations are carried out to demonstrate the effectiveness and adaptation of designed control loops.