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Robust Model-Free Control Applied to a Quadrotor UAV

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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’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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Authors and Affiliations

  1. Mechanical Engineering Faculty at Higher Colleges of Technology, Al Ain, UAE

    Younes Al Younes

  2. University of Picardie Jules Verne, Amiens, France

    Younes Al Younes

  3. Department of Computer, Science at Hochschule Bonn-Rhein-Sieg University, Sankt Augustin, Germany

    Ahmad Drak

  4. Electrical Engineering Department at United Arab Emirates University, Al Ain, UAE

    Hassan Noura

  5. Information & System Lab - Control & Vehicle Group- at University of Picardie, Amiens, France

    Abdelhamid Rabhi & Ahmed El Hajjaji

Authors
  1. Younes Al Younes
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  2. Ahmad Drak
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  3. Hassan Noura
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  4. Abdelhamid Rabhi
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  5. Ahmed El Hajjaji
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Corresponding author

Correspondence to Hassan Noura.

Additional information

*Research supported by United Arab Emirates University, UAEU.

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Younes, Y.A., Drak, A., Noura, H. et al. Robust Model-Free Control Applied to a Quadrotor UAV. J Intell Robot Syst 84, 37–52 (2016). https://doi.org/10.1007/s10846-016-0351-2

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  • DOI: https://doi.org/10.1007/s10846-016-0351-2

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