Position tracking of an underactuated quadrotor using model reference adaptive control

A model reference adaptive control is used to design a position tracking controller of a quadrotor in order to compensate for uncertainties that arises from modelling errors. Since the position dynamic of the quadrotor is a non-actuated subsystem, a virtual actuator input to this subsystem is estimated using a radial basis function network. The inclusion of an adaptive element in the tracking controller enhances the tracking performance and enables the user to specify the desired performance characteristics. It is shown in simulation that the adaptive controller gives a stable trajectory tracking and is capable of regaining the specified response characteristics in the presence of a disturbance and degradation in actuator performance.