TY - GEN
T1 - Model-free control of a quadrotor vehicle
AU - Al Younes, Younes
AU - Drak, Ahmad
AU - Noura, Hassan
AU - Rabhi, Abdelhamid
AU - El Hajjaji, Ahmed
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
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U2 - 10.1109/ICUAS.2014.6842366
DO - 10.1109/ICUAS.2014.6842366
M3 - Conference contribution
AN - SCOPUS:84904541950
SN - 9781479923762
T3 - 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
SP - 1126
EP - 1131
BT - 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
PB - IEEE Computer Society
T2 - 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014
Y2 - 27 May 2014 through 30 May 2014
ER -