Real-time implementation of mixing adaptive control on quadrotor UAVs

In this study, a novel multiple model adaptive control scheme is designed and implemented for quadrotor unmanned aerial vehicles (UAVs). The proposed scheme involves a mixing adaptive controller that blends a set of pre-designed linear quadratic controllers. A particular goal of the design is guaranteeing robustness in lateral motion against modeling uncertainties. The designed controller scheme is tested via real-time experiments on Quanser Qball-X4 UAVs. The experimental results verify the efficiency of the proposed scheme.