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Robust Model-Free Control Applied to a Quadrotor UAV

  • The objective of this paper is to deal with a new technique based on Model-Free Control (MFC). The concept of this controller is to use a basic controller along with an ultra-local model to compensate for system’s uncertainties and disturbances. In this paper, a proposed algorithm is introduced based on an integrated structure between the Nonlinear Integral-Backstepping technique (NIB) and the MFC. The LQR, NIB, LQR-MFC, and NIB-MFC are implemented on a real quadrotor UAV. Various real-time flight tests are conducted to validate the importance of using the MFC side by side with NIB. The proposed combination shows robust performance compared to the other algorithms under fault-free and actuator fault conditions.

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Document Type:Article
Author:Younes Al Younes, Ahmad Drak, Hassan Noura, Abdelhamid Rabhi, Ahmed El Hajjaji
Parent Title (English):Journal of Intelligent & Robotic Systems
First Page:37
Last Page:52
Publisher:Springer Netherlands
Date of first publication:2016/02/24
Keyword:Integral backstepping technique; Linear quadratic regulator; Model-free control; Nonlinear control quadrotor uav
Departments, institutes and facilities:Fachbereich Informatik
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2016/03/03