L1 Adaptive Control of Quadcopters

The issue of developing a control system for compensating external disturbances acting on the quadcopter is considered. The proposed design procedure consists in introducing a decoupling compensator into the system and subsequent synthesis of an adaptive regulator that provides compensation of external disturbances. It is shown that by virtue of choosing the value of the adaptation gain one can reduce the control system error to any arbitrary small value. The proposed control architecture can be used for developing fault-tolerant control systems of multirotor copters.