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Cascaded model-free control for trajectory tracking of quadrotors

Abstract : 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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Submitted on : Thursday, July 5, 2018 - 8:51:41 PM
Last modification on : Wednesday, April 8, 2020 - 4:00:02 PM



Maria Bekcheva, Cédric Join, Hugues Mounier. Cascaded model-free control for trajectory tracking of quadrotors. International Conference on Unmanned Aircraft Systems, ICUAS'18, Jun 2018, Dallas, TX, United States. ⟨10.1109/icuas.2018.8453339⟩. ⟨hal-01831468⟩



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