Robust adaptive control design for quadcopter payload add and drop applications

Bara J. Emran, Jorge Dias, Lakmal Seneviratne, Guowei Cai

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

21 Scopus citations


Payload add or drop occurs commonly in various quadcopter applications. Generally the control parameters of the onboard autopilot or stabilizer are tuned for a particular condition such as no payload or constant payload. Therefore, such mass change may significantly deteriorate the automatic control performance. In our work, a robust adaptive control method is proposed to deal with this challenging issue, aiming at 1) achieving a consistent performance for the altitude control of a quadcopter and 2) enhancing the robustness the system subject to signal noises. Using our custom built quadcopter platform as a case study, we demonstrate the efficiency of the proposed controller in terms of mass estimation, position tracking and velocity tracking via a series of simulations. Its superiority over the benchmark PID control is also highlighted via tracking performance comparison.

Original languageBritish English
Title of host publicationProceedings of the 34th Chinese Control Conference, CCC 2015
EditorsQianchuan Zhao, Shirong Liu
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9789881563897
StatePublished - 11 Sep 2015
Event34th Chinese Control Conference, CCC 2015 - Hangzhou, China
Duration: 28 Jul 201530 Jul 2015

Publication series

NameChinese Control Conference, CCC
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927


Conference34th Chinese Control Conference, CCC 2015


  • Adaptive control
  • payload add or drop
  • quadcopter UAV
  • robustness enhancement


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