Model-Free Control applied for position control of Quadrotor using ROS

Zakaria Chekakta; Mokhtar Zerikat; Yasser Bouzid; Mohamed  Abderrahim

Model-Free Control applied for position control of Quadrotor using ROS

Zakaria Chekakta, Mokhtar Zerikat, Yasser Bouzid, Mohamed Abderrahim

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

Abstract

In this paper, an intelligent PD (iPD) controller named Model-Free Controller is proposed. Herein, it is used to control the position of a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) Quadrotor. This strategy increases the control performance as well as its robustness level with respect to the classical PD. This is due to the estimation principle provided by the ultra-local model that estimate the unknown disturbances and uncertainties each iteration. The efficiency of the proposed strategy is shown through various numerical simulations where a thorough analysis is provided. Moreover, a comparison study is elaborated between the iPD and the classical PD.

Original language	English
Title of host publication	2019 6th International Conference on Control, Decision and Information Technologies (CoDIT)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Publication status	Published - 2 Sept 2019

Cite this

@inproceedings{5d861e628baf47e3b6875657602c398c,

title = "Model-Free Control applied for position control of Quadrotor using ROS",

abstract = "In this paper, an intelligent PD (iPD) controller named Model-Free Controller is proposed. Herein, it is used to control the position of a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) Quadrotor. This strategy increases the control performance as well as its robustness level with respect to the classical PD. This is due to the estimation principle provided by the ultra-local model that estimate the unknown disturbances and uncertainties each iteration. The efficiency of the proposed strategy is shown through various numerical simulations where a thorough analysis is provided. Moreover, a comparison study is elaborated between the iPD and the classical PD.",

author = "Zakaria Chekakta and Mokhtar Zerikat and Yasser Bouzid and Mohamed Abderrahim",

year = "2019",

month = sep,

day = "2",

language = "English",

booktitle = "2019 6th International Conference on Control, Decision and Information Technologies (CoDIT)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

}

Model-Free Control applied for position control of Quadrotor using ROS. / Chekakta, Zakaria; Zerikat, Mokhtar; Bouzid, Yasser et al.
2019 6th International Conference on Control, Decision and Information Technologies (CoDIT). Institute of Electrical and Electronics Engineers (IEEE), 2019.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Model-Free Control applied for position control of Quadrotor using ROS

AU - Chekakta, Zakaria

AU - Zerikat, Mokhtar

AU - Bouzid, Yasser

AU - Abderrahim, Mohamed

PY - 2019/9/2

Y1 - 2019/9/2

N2 - In this paper, an intelligent PD (iPD) controller named Model-Free Controller is proposed. Herein, it is used to control the position of a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) Quadrotor. This strategy increases the control performance as well as its robustness level with respect to the classical PD. This is due to the estimation principle provided by the ultra-local model that estimate the unknown disturbances and uncertainties each iteration. The efficiency of the proposed strategy is shown through various numerical simulations where a thorough analysis is provided. Moreover, a comparison study is elaborated between the iPD and the classical PD.

AB - In this paper, an intelligent PD (iPD) controller named Model-Free Controller is proposed. Herein, it is used to control the position of a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) Quadrotor. This strategy increases the control performance as well as its robustness level with respect to the classical PD. This is due to the estimation principle provided by the ultra-local model that estimate the unknown disturbances and uncertainties each iteration. The efficiency of the proposed strategy is shown through various numerical simulations where a thorough analysis is provided. Moreover, a comparison study is elaborated between the iPD and the classical PD.

M3 - Conference contribution

BT - 2019 6th International Conference on Control, Decision and Information Technologies (CoDIT)

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -

Model-Free Control applied for position control of Quadrotor using ROS

Abstract

Fingerprint

Cite this