Energy based 3D trajectory tracking control of quadrotors with model-free based on-line disturbance compensation

Abstract : In this work, a Revisited form of the so-called Model-Free Control (R-MFC) is derived. Herein, the MFC principle is employed to deal with the unknown part of a plant only (i.e., unmodeled dynamics, disturbances, etc.) and occurs beside an Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) strategy. Using the proposed formulation, it is shown that we can significantly improve the performance of the control through the reshaping properties of the IDA-PBC technique. Moreover, the control robustness level is increased via a compensation of the time-varying disturbances and the unmodeled system dynamics. This on-line compensation capability is provided by the MFC principle. The problem is studied in the case of Multi-Input Multi-Output (MIMO) mechanical systems with an explicit application to a small Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) where a stability analysis is also provided. Numerical simulations have shown satisfactory results, in comparison with some other control strategies, where an in-depth discussion with respect to the control performance is highlighted by considering several scenarios and using several metrics.
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Chinese Journal of Aeronautics, Elsevier, 2018, 31 (7), pp.1568--1578. 〈10.1016/j.cja.2018.05.007〉
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https://hal.archives-ouvertes.fr/hal-01827704
Contributeur : Frédéric Davesne <>
Soumis le : lundi 2 juillet 2018 - 15:50:43
Dernière modification le : mardi 11 décembre 2018 - 11:28:05

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Yasser Bouzid, Houria Siguerdidjane, Yasmina Bestaoui. Energy based 3D trajectory tracking control of quadrotors with model-free based on-line disturbance compensation. Chinese Journal of Aeronautics, Elsevier, 2018, 31 (7), pp.1568--1578. 〈10.1016/j.cja.2018.05.007〉. 〈hal-01827704〉

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