Model-Free Control of a Quadrotor Vehicle

被引：0
|
作者：
Al Younes, Younes [1 ,2 ]
Drak, Ahmad [3 ]
Noura, Hassan [4 ]
Rabhi, Abdelhamid [5 ]
El Hajjaji, Ahmed [5 ]
机构：
[1] Higher Coll Technol, Fac Mech Engn, Al Ain, U Arab Emirates
[2] Univ Picardie Jules Verne, Amiens, France
[3] United Arab Emirates Univ UAEU, Unmanned Vehicles Lab, Al Ain, U Arab Emirates
[4] United Arab Emirates Univ UAEU, Dept Elect Engn, Al Ain, U Arab Emirates
[5] Univ Picardie, Control & Vehicle Grp, Modeling Informat & Syst Lab, Amiens, France
来源：
2014 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS) | 2014年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, the Model-Free Control (MFC) is used and tested on a Multi-Input-Multi-Output (MIMO) nonlinear system, which is a quad rotor 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.
引用
收藏
页码：1126 / 1131
页数：6
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