This paper presents a nonlinear tracking controller including the cutoff frequency adaptation algorithm for quadcopters without the use of true plant parameters. This study makes two contributions. First, an adaptation algorithm automatically updates the closed-loop cutoff frequency by updating the feedback gains. Second, a nonlinear control law renders the closed-loop system to guarantee the exponential performance recovery and offset-free properties, while only using the proportional component of tracking errors. The numerical verifications are performed to verify the closed-loop performance improvement from the proposed controller with MATLAB/Simulink.

中文翻译：

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用于四轴飞行器应用的自适应非线性跟踪控制算法

本文提出了一种非线性跟踪控制器，包括四轴飞行器的截止频率自适应算法，而无需使用真实的被控对象参数。这项研究有两个贡献。首先，自适应算法通过更新反馈增益自动更新闭环截止频率。其次，非线性控制律使闭环系统保证指数性能恢复和无偏移特性，同时仅使用跟踪误差的比例分量。进行数值验证以验证所提出的控制器与 MATLAB/Simulink 的闭环性能改进。