Robust Adaptive Control for A Novel Fully-Actuated Octocopter UAV with Wind Disturbance

In this paper, we propose a robust adaptive control scheme for a novel fully-actuated octocopter unmanned aerial vehicle (UAV). For standard multirotor UAV, it is difficult to track arbitrary trajectories because of strong coupling feature between translational motion and rotation motion (e.g., it can hover on the spot only when horizontal). However, this novel fully-actuated octocopter UAV can realize translational motion and rotation motion independently, and realize arbitrary trajectory tracking. This capability can make multirotor UAV having better operation and control performances, and expand application scope, for example, the operation performance of manipulator can have better operation performance if this novel octocopter is utilized as the moving base, for this octocopter can realize more smooth movement performance than standard multirotor UAV. To deal with influence of parametric uncertainties and external disturbance, a robust adaptive control scheme is developed for this novel octocopter UAV. Finally, numerical simulations are utilized to show the effectiveness of the proposed controller.