Coping with Quadcopter Payload Variation via Adaptive Robust Control

In this work, Adaptive Robust Control (ARC) is applied to control the motion of a quadrotor with a varying payload. ARC, based on the backstepping method, guaranties asymptotic output tracking and satisfactory transient response of the quadrotor motion in the face of uncertainties and disturbances. The control system architecture includes an outer loop where a PID controller is used to generate the position inputs, which are fed to the ARC-based attitude control system at the inner loop level. The controller design is validated against payload variation in both numerical simulation and experimentally on a quadcopter. The obtained results demonstrate the accuracy of the ARC design with a constant payload against a well-tuned fixed-gain PID controller, and the adaptation and robustness of ARC become evident when the payload is varied and tracking performance is maintained.