In this paper, a novel Model Reference Adaptive Control (MRAC)-based hybrid control\nalgorithm is presented for the trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV).\nThe mathematical model of the tri-rotor is based on the Newtonââ?¬â??Euler formula, whereas the\nMRAC-based hybrid controller consists of Fuzzy Proportional Integral Derivative (F-PID) and Fuzzy\nProportional Derivative (F-PD) controllers. MRAC is used as the main controller for the dynamics,\nwhile the parameters of the adaptive controller are fine-tuned by the F-PD controller for the altitude\ncontrol subsystem and the F-PID controller for the attitude control subsystem of the UAV. The stability\nof the system is ensured and proven by Lyapunov stability analysis. The proposed control algorithm\nis tested and verified using computer simulations for the trajectory tracking of the desired path\nas an input. The effectiveness of our proposed algorithm is compared with F-PID and the Fuzzy\nLogic Controller (FLC). Our proposed controller exhibits much less steady state error, quick error\nconvergence in the presence of disturbance or noise, and model uncertainties.
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