Robust Quadrotor Control: An Adaptive Synergetic Approach with Parallel Feedforward Compensation

This paper proposes an advanced approach for Quadrotor attitude control using robust adaptive control based on the property of almost passivity. The method addresses the inherent challenges of Quadrotor systems, particularly their lack of strict passivity, as well as the stability issues in the presence of uncertainties and external disturbances. To mitigate these challenges, a Parallel Feedforward Compensator (PFC) is introduced to render the Quadrotor Almost Strictly Passive (ASP), and an Adaptive Synergetic Control (ASC) method is implemented. The combination of PFC and ASC facilitates the stable implementation of the control system. The performance of the proposed ASC is evaluated through simulations and compared with PID and an adaptive backstepping controller.