Robust Model-Free Control Applied to a Quadrotor UAV

被引：1

作者：

Younes Al Younes

Ahmad Drak

Hassan Noura

Abdelhamid Rabhi

Ahmed El Hajjaji

机构：

[1] Mechanical Engineering Faculty at Higher Colleges of Technology,Department of Computer

[2] University of Picardie Jules Verne,undefined

[3] Science at Hochschule Bonn-Rhein-Sieg University,undefined

[4] Electrical Engineering Department at United Arab Emirates University,undefined

[5] Information & System Lab - Control & Vehicle Group- at University of Picardie,undefined

来源：

Journal of Intelligent & Robotic Systems | 2016年 / 84卷

关键词：

Integral backstepping technique; Linear quadratic regulator; Model-free control; Nonlinear control quadrotor uav;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

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.

引用

页码：37 / 52

页数：15

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