Dynamic Modeling and Nonlinear Adaptive Control of Mesicopter Flight

This paper presents dynamic modeling, classical and nonlinear control of flight of mesicopter. First, nonlinear multiple-input multiple-output model is derivedtaking into consideration the bodyandrotorgyroscopiceffects,thenthreeclassical􀀃control􀀃methodsfo 􀀃fast􀀃responsewithhigh performance are used and compared with respect to control􀀃 effort. Mesicopters are􀀃 always affected􀀃byuncertainties.Classicalapproachisnotabletoproperlycompe sate􀀃theseeffects.To overcomethisproblem,modelreferenceadaptivecontrol is used withthr edifferenttypesbased on single-input single-output linear equations, multiple-input􀀃 multiple-output linear equations and nonlinear multiple-input multiple-output equations. Based on the simulation results, the adaptive control method with estimation mechanism improved performance, attitude stabilization and control of system􀀃 states in different conditions. Stability is guaranteed by Lyapunov stability theory.􀀃 Results demonstrate good performance of adaptive control for parameter􀀃uncertaintycompensation.