Model-free control of a quadrotor vehicle

Younes Al Younes, Ahmad Drak, Hassan Noura, Abdelhamid Rabhi, Ahmed El Hajjaji

Research output: Chapter in Book/Report/Conference proceedingConference contribution

38 Citations (Scopus)

Abstract

In this paper, the Model-Free Control (MFC) is used and tested on a Multi-Input-Multi-Output (MIMO) nonlinear system, which is a quadrotor vehicle. The system is decomposed into different-dependent Single-Input-Single-Output (SISO) sub-systems, where the MFC algorithm is applied on each one of them. MFC aims at compensating the time-varying disturbances and un-modeled system dynamics that the optimal feedback controller fails to cope with. A comparison between LQR feedback controller with and without the MFC will be implemented and tested on a real quadrotor vehicle. Different flight test results validate the importance of using the MFC, and its capability to control the quadrotor system that is using a degraded feedback controller, as well.

Original languageEnglish
Title of host publication2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
PublisherIEEE Computer Society
Pages1126-1131
Number of pages6
ISBN (Print)9781479923762
DOIs
Publication statusPublished - 2014
Event2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Orlando, FL, United States
Duration: May 27 2014May 30 2014

Publication series

Name2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings

Other

Other2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014
Country/TerritoryUnited States
CityOrlando, FL
Period5/27/145/30/14

ASJC Scopus subject areas

  • Aerospace Engineering

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