Model-free observer for state estimation applied to a quadrotor

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 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 languageEnglish
Title of host publication2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1378-1384
Number of pages7
ISBN (Electronic)9781479960101
DOIs
Publication statusPublished - Jul 7 2015
Event2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 - Denver, United States
Duration: Jun 9 2015Jun 12 2015

Publication series

Name2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015

Other

Other2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Country/TerritoryUnited States
CityDenver
Period6/9/156/12/15

ASJC Scopus subject areas

  • Transportation
  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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