Designing and Modeling of Quadcopter Control System Using L1 Adaptive Control

Quadcopters have generated considerable interest in both the control community due to their complex dynamics and a lot of potentials in outdoor applications because of their advantages over regular aerial vehicles. This paper presents the design and new control method of a quadcopter using L1 adaptive control design process in which control parameters are systematically determined based on intuitively desired performance and robustness metrics set by the designer.