Design of an adaptive control system for a four-rotor UAV

The quadrotors or quadcopters, which have been the subject of many researches, in the past decade, need a control system in order to carry out various operations. In this study, the position and angle control of the quadrotor named Qball-X4 is examined with different control methods and their comparisons are made. To perform this, firstly, of motion control of each axis of the vehicle ib is examined by using the existing dynamics for the proposed controllers in Matlab/Simulink simulation environment. The used controllers are the adaptive control which has wide application in the literature and based on the unknown and/or variable plant parameters, LQR (Linear Quadratic Regulator) control which is used to control the systems that have the known dynamics and PID (Proportional-Integral-Derivative) control which is a one of the classical control methods. The results of these controllers which are tested in Matlab/Simulink simulation environment and they are compared. The adaptive control system is also applied to the actual system and the performance assesment is made.