Novel method for quadcopter controlling using nonlinear adaptive control based on robust fixed point transformation phenomena

Abstract

In the past few years quadcopters have become an integral part of life. There are many applications for these objects including entertaining purpose, agricultural monitoring, or gathering information from places what humans can not reach. An interesting problem is controlling these vehicles from remote locations in order to follow a desired trajectory. While many solutions exist to this task the vast majority of them heavily rely on linear control methods which are susceptible to parameter uncertainties or outer disturbances, which affect the tracking capability of the quadcopter adversely. In this paper a novel nonlinear approach, called Robust Fixed Point Transformation based adaptive control (RFPT) is presented which can provide remedy to the above mentioned disturbances.