Nonlinear Adaptive Filter and Control of Quadcopter

This paper addresses the problem of nonlinear control of uncertain nonlinear system. For the target system a quadcopter is chosen. Dynamics of quadcopter is nonlinear and exact physical parameters values are unknown and generally can change during the flight. State measurements are affected by white noise and cannot be observed directly. The task of proposed adaptive nonlinear algorithm is to estimate and stabilize attitude of drone. The control algorithm consists of two algorithms: nonlinear adaptive observer and nonlinear stabilization control that uses estimations of observer. The observer will optimize itself for changes in system behavior. Quadratic cost functions will be used for both parts of algorithm. The control is tested and verified by numerical simulation of quadcopter.