In this paper, we propose a revisited form of the so-called Model-Free Control (MFC). Herein, the MFC principle is employed to deal with the unknown part of the plant only (i.e. unmodeled dynamics, disturbances, etc.) and occurs beside an Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) strategy that is used instead of the PID structure as done in the classical MFC form. Using the proposed formulation, it is shown that we can significantly improve the performance of the control and its robustness level. This problem is studied in the case of Multi-Inputs Multi-Outputs (MIMO) system with an application to a small Vertical Take-Off and Landing (VTOL) vehicle where a stability analysis is also provided. The numerical simulations have shown satisfactory results where an in-depth discussion with respect to the control performance is highlighted by considering several scenarios and using several metrics.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    3D trajectory tracking control of quadrotor UAV with on-line disturbance compensation


    Beteiligte:
    Bouzid, Y. (Autor:in) / Siguerdidjane, H. (Autor:in) / Bestaoui, Y. (Autor:in)


    Erscheinungsdatum :

    01.08.2017


    Format / Umfang :

    416411 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A nonlinear quadrotor trajectory tracking controller with disturbance rejection

    Cabecinhas, David / Cunha, Rita / Silvestre, Carlos | Tema Archiv | 2014





    Adaptive Backstepping-Based Trajectory Tracking Control for Quadrotor UAV with Uncertainty Disturbance

    Chen, Zhiming / Liu, Longwu / Luo, Zhouhuai | British Library Conference Proceedings | 2022