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.


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    Title :

    Model-free control of a quadrotor vehicle


    Contributors:


    Publication date :

    2014-05-01


    Size :

    2147499 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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