TY - JOUR ID - TI - Robust Multiple Model Adaptive Control for Dynamic Positioning of Quadrotor Helicopter System AU - Zainab SH. Mahmoud AU - Safanah M. Raafat PY - 2018 VL - 36 IS - 12 Part (A) Engineering SP - 1249 EP - 1259 JO - Engineering and Technology Journal مجلة الهندسة والتكنولوجيا SN - 16816900 24120758 AB - The quadrotor control has been one of the benchmark controlproblems. It is considered as an under-actuated, multivariable and highnonlinear system due to its dynamics, having strong coupling betweentranslation and angular motion and affected by external disturbancesassociated with flight environment. Therefore, there is a need to design a robustcontrol that can keep up with sudden changes and find better trackingperformance against modeling error and uncertainties. In this work, anadaptive state feedback control method denoted as Classical Multiple ModelAdaptive Control (CMMAC) has been implemented. This method embodies inits structure a bank of filters. Kalman filter (KF) has been used where eachfilter has been designed for a specific value of an equilibrium point and set ofcontrollers, which was provided by the LQ-servo design. Comparisons of theperformance of a quadrotor system between control designs for single Kalmanfilter with CMMAC for the same value of uncertainty in terms of Root MeanSquare Error (RMSE) have been presented. CMMAC meets better performanceof tracking design for all variations; the performance of the controlledquadrotor has been improved for the linear and angular coordinates 100%, ascompared to the performance when using one Kalman filter.

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