Generic dynamic modeling and robust Sliding Mode based Model-Free Control for 3D navigation of multirotor VTOL UAVs

Yasser Bouzid (1) , Houria Siguerdidjane (2) , Yasmina Bestaoui (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 L2S - Laboratoire des signaux et systèmes

This paper introduces a generic and accurate dynamic model, based on Newton-Euler formalism, for multirotor vehicles taking into consideration aerodynamic effects. Besides, the paper considers a reformulation of the well-known Model-Free Control (MFC), which is applied for a low-cost quadrotor even in the presence of various type disturbances, including unmodeled or neglected dynamics, parametric uncertainties, external disturbances, etc. This reformulation takes into consideration the limitation of the estimator used by the classical MFC by using a Sliding Mode auxiliary Controller (SMC) leading to SMC-MFC controller. In addition, instead of using a pure data-driven based control, we introduce the available mathematical dynamics of the system even if they are poorly known. Herein, the MFC principle is employed to deal with the unknown part of the plant only (i.e., unmodeled dynamics, disturbances, etc.). The stability of the closed-loop system is guaranteed and for which a theoretical analysis is provided. The numerical simulations have shown satisfactory results. An in-depth discussion, with respect to the control performance and consumed energy, is highlighted by considering several scenarios and using several metrics.

Domaines: Automatique / Robotique

Yasser Bouzid, Houria Siguerdidjane, Yasmina Bestaoui. Generic dynamic modeling and robust Sliding Mode based Model-Free Control for 3D navigation of multirotor VTOL UAVs. International Conference on Unmanned Aircraft Systems, ICUAS'18, Jun 2018, Dallas, United States. pp.970--979, ⟨10.1109/ICUAS.2018.8453293⟩. ⟨hal-01811953⟩