Robust Model-Free Control Applied to a Quadrotor UAV

Younes Al Younes, Ahmad Drak, Hassan Noura, Abdelhamid Rabhi, Ahmed El Hajjaji

Research output: Contribution to journalArticlepeer-review

81 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)37-52
Number of pages16
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number1-4
Publication statusPublished - Dec 1 2016
Externally publishedYes


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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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