Model-free control of a quadrotor vehicle

Author

Al Younes, Younes ; Drak, Ahmad ; Noura, H. ; Rabhi, A. ; El Hajjaji, A.

Author_Institution

Mech. Eng. Fac., Higher Colleges of Technol., Al Ain, United Arab Emirates

fYear

2014

fDate

27-30 May 2014

Firstpage

1126

Lastpage

1131

Abstract

In this paper, the Model-Free Control (MFC) is used and tested on a Multi-Input-Multi-Output (MIMO) nonlinear system, which is a quadrotor vehicle. The system is decomposed into different-dependent Single-Input-Single-Output (SISO) sub-systems, where the MFC algorithm is applied on each one of them. MFC aims at compensating the time-varying disturbances and un-modeled system dynamics that the optimal feedback controller fails to cope with. A comparison between LQR feedback controller with and without the MFC will be implemented and tested on a real quadrotor vehicle. Different flight test results validate the importance of using the MFC, and its capability to control the quadrotor system that is using a degraded feedback controller, as well.

Keywords

MIMO systems; aerospace testing; feedback; helicopters; linear quadratic control; nonlinear control systems; LQR feedback controller; MFC algorithm; MIMO; SISO; degraded feedback controller; different-dependent single-input-single-output subsystems; flight test results; model-free control; multiinput-multioutput nonlinear system; optimal feedback controller; quadrotor vehicle; time-varying disturbances; unmodeled system dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Unmanned Aircraft Systems (ICUAS), 2014 International Conference on

Conference_Location

Orlando, FL

Type

conf

DOI

10.1109/ICUAS.2014.6842366

Filename

6842366