Robust Model-Free Control Applied to a Quadrotor UAV

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

doi:10.1007/s10846-016-0351-2

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 journal › Article › peer-review

90 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	37-52
Number of pages	16
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	84
Issue number	1-4
DOIs	https://doi.org/10.1007/s10846-016-0351-2
Publication status	Published - Dec 1 2016
Externally published	Yes

Keywords

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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10.1007/s10846-016-0351-2

Cite this

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abstract = "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{\textquoteright}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.",

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AU - Rabhi, Abdelhamid

AU - Hajjaji, Ahmed El

PY - 2016/12/1

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Robust Model-Free Control Applied to a Quadrotor UAV

Abstract

Keywords

ASJC Scopus subject areas

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