QUAD-ROTOR MODELING AND ATTITUDE CONTROL USING STATE-DEPENDENT ARX TYPE MODEL

A state-dependent autoregressive with exogenous variables (SD-ARX) model whose functional coefficients are approximated by sets of radial basis function (RBF) networks is proposed to describe the dynamic behavior of a quad-rotor in this paper. This model is identified offline and used as an internal predictor of a receding horizon predictive controller to address the quad-rotor's attitude control issue. In addition, the physical constraints of the system have been also taken into account during the controller design process. The results of real-time control on a quad-rotor aircraft illustrate satisfactory modeling accuracy in a large operating range and good performance of control approach proposed in this paper.