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What is Adaptive Control for Quadrotor Dynamics about?
This document presents a Lyapunov-based model reference adaptive controller for controlling the position of a quadrotor helicopter with uncertain model parameters. The controller design involves separate inner and outer control loops for attitude and position dynamics. Stability analysis is performed for both loops using Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed adaptive controller for different tracking scenarios.
- Author
- Naod Zerihun
- Language
- EN