A Singularity-Free Model Reference Adaptive Attitude and Position Controller for Quadrotor UAV
11th International Conference on Recent Advances in Air and Space Technologies (RAST2026), İstanbul, Türkiye, 13 - 15 Mayıs 2026, ss.1-6, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/rast69551.2026.11672373
- Basıldığı Şehir: İstanbul
- Basıldığı Ülke: Türkiye
- Sayfa Sayıları: ss.1-6
- Yıldız Teknik Üniversitesi Adresli: Evet
Özet
Quadrotor unmanned aerial vehicles (UAVs) are nonlinear and underactuated systems that are significantly affected by changing payload and parameter uncertainties. This technical note presents a singularity-free model reference adaptive control (MRAC) for the coupled attitude and position tracking of a quadrotor UAV. To address the problem of control signal singularities, which frequently occur in classical adaptive control laws, the proposed MRAC architecture introduces a specifically designed Lyapunov function and constant scaling parameters that ensure singularity-free formulation in the controller signal. The control scheme utilizes some adaptation mechanism for the translational motions and yaw rotation, driving the system to follow a desired second-order reference model. Simultaneously, the roll and pitch dynamics are stabilized using an inner-loop PD controller. The adaptive laws guarantee the asymptotic stability of the closed-loop system. The performance of the designed controller is validated through numerical simulations under different damping ratios, specifically evaluating underdamped and overdamped second-order references. The simulation outcomes verify that the proposed adaptive controller ensures robustness to parametric uncertainties, precise and singularity-free trajectory tracking, and robustness to parametric uncertainties, while effectively compensating for system uncertainties.