Model-free observer for state estimation applied to a quadrotor

Younes Al Younes; Hassan Noura; Mohamad Muflehi; Abdelhamid Rabhi; Ahmed El Hajjaji

doi:10.1109/ICUAS.2015.7152433

Model-free observer for state estimation applied to a quadrotor

Younes Al Younes, Hassan Noura, Mohamad Muflehi, Abdelhamid Rabhi, Ahmed El Hajjaji

Department of Electrical and Communication Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1378-1384
Number of pages	7
ISBN (Electronic)	9781479960101
DOIs	https://doi.org/10.1109/ICUAS.2015.7152433
Publication status	Published - Jul 7 2015
Event	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 - Denver, United States Duration: Jun 9 2015 → Jun 12 2015

Publication series

Name	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015

Other

Other	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Country/Territory	United States
City	Denver
Period	6/9/15 → 6/12/15

ASJC Scopus subject areas

Transportation
Aerospace Engineering
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICUAS.2015.7152433

Cite this

Al Younes, Y., Noura, H., Muflehi, M., Rabhi, A., & El Hajjaji, A. (2015). Model-free observer for state estimation applied to a quadrotor. In 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 (pp. 1378-1384). [7152433] (2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS.2015.7152433

Model-free observer for state estimation applied to a quadrotor. / Al Younes, Younes; Noura, Hassan; Muflehi, Mohamad et al.
2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1378-1384 7152433 (2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Al Younes, Y, Noura, H, Muflehi, M, Rabhi, A & El Hajjaji, A 2015, Model-free observer for state estimation applied to a quadrotor. in 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015., 7152433, 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, Institute of Electrical and Electronics Engineers Inc., pp. 1378-1384, 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, Denver, United States, 6/9/15. https://doi.org/10.1109/ICUAS.2015.7152433

Al Younes Y, Noura H, Muflehi M, Rabhi A, El Hajjaji A. Model-free observer for state estimation applied to a quadrotor. In 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1378-1384. 7152433. (2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015). doi: 10.1109/ICUAS.2015.7152433

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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.

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Model-free observer for state estimation applied to a quadrotor

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