TY - GEN
T1 - Model-free observer for state estimation applied to a quadrotor
AU - Al Younes, Younes
AU - Noura, Hassan
AU - Muflehi, Mohamad
AU - Rabhi, Abdelhamid
AU - El Hajjaji, Ahmed
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/7
Y1 - 2015/7/7
N2 - In this paper, the Nonlinear Model-Free Observer (NMFO) is proposed to estimate the states of the quadrotor vehicle. NMFO is an integrated structure of the Model-Free technique and the nonlinear Thau observer. The Thau observer will accommodate for the nonlinearities in the quadrotor model and MFO will compensate for the un-modeled dynamics, modeling errors, and the system uncertainties. Flight test results have validated the proposed observer performance towards fault-free and actuator fault conditions.
AB - In this paper, the Nonlinear Model-Free Observer (NMFO) is proposed to estimate the states of the quadrotor vehicle. NMFO is an integrated structure of the Model-Free technique and the nonlinear Thau observer. The Thau observer will accommodate for the nonlinearities in the quadrotor model and MFO will compensate for the un-modeled dynamics, modeling errors, and the system uncertainties. Flight test results have validated the proposed observer performance towards fault-free and actuator fault conditions.
UR - http://www.scopus.com/inward/record.url?scp=84941082020&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84941082020&partnerID=8YFLogxK
U2 - 10.1109/ICUAS.2015.7152433
DO - 10.1109/ICUAS.2015.7152433
M3 - Conference contribution
AN - SCOPUS:84941082020
T3 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
SP - 1378
EP - 1384
BT - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Y2 - 9 June 2015 through 12 June 2015
ER -