In the subject of quadrotor controller design, usually modelling and identification are tedious and time-consuming tasks. In this study, we propose a controller design that avoids the quadrotor's system identification procedures while staying robust with respect to endogenous and exogenous disturbances. To reach our goal, based on the cascaded structure of a quadrotor, we divide the system into positional and attitude subsystems each controlled by an independent model-free controller. We validate our control approach in two realistic scenarios : in presence of unknown measurement noise and unknown time-varying wind disturbances. We provide simulations on a realistic nonlinear quadrotor model following an aggressive position-yaw trajectory.


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    Titel :

    Cascaded Model-Free Control for trajectory tracking of quadrotors


    Beteiligte:
    Bekcheva, Maria (Autor:in) / Join, Cedric (Autor:in) / Mounier, Hugues (Autor:in)


    Erscheinungsdatum :

    01.06.2018


    Format / Umfang :

    2645346 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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