Robust adaptive proportional derivative-active force control for unmanned hexacopter

In this paper we present PD-AFC (proportional, derivative-active force control) on unmanned hexacopter that has a robust nature to remain the disorder on one propeller and fluctuated disturbance. Hexacopter uses PD controller to achieve stability and AFC to generate a robust disturbance rejection. Gain scheduling method are used in adaptive control to tune PD controller. Based on the results obtained by simulation, hexacopter has stabilized using PD controller. Hexacopter able to robust with PD-AFC of 0.5 on fluctuated disturbance and able to adapt to maintain altitude using adaptive PD controller.

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