Boubakir, AhseneSouanef, ToufikLabiod, SalimWhidborne, James F.2024-12-132024-12-132024-11-27Boubakir A, Souanef T, Labiod S, Whidborne JF. (2024) A robust adaptive PID-like controller for quadrotor unmanned aerial vehicle systems. Aerospace, Volume 11, Issue 12, November 2024, Article number 9802226-4310https://doi.org/10.3390/aerospace11120980https://dspace.lib.cranfield.ac.uk/handle/1826/23271This paper introduces a stable adaptive PID-like control scheme for quadrotor Unmanned Aerial Vehicle (UAV) systems. The PID-like controller is designed to closely estimate an ideal controller to meet specific control objectives, with its gains being dynamically adjusted through a stable adaptation process. The adaptation process aims to reduce the discrepancy between the ideal controller and the PID-like controller in use. This method is considered model-free, as it does not require knowledge of the system’s mathematical model. The stability analysis performed using a Lyapunov method demonstrates that every signal in the closed-loop system is Uniformly Ultimately Bounded (UUB). The effectiveness of the proposed PID-like controller is validated through simulations on a quadrotor for path following, ensuring accurate monitoring of the target positions and yaw angle. Simulation results highlight the performance of this control scheme.enAttribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/4007 Control Engineering, Mechatronics and Robotics40 Engineering4010 Engineering Practice and Education4001 Aerospace engineeringArticle2226-43105601281112