Revisited model-free controller for 3D autonomous navigation of quadrotor: Features analysis in harsh flight conditions

Abstract

The performance in any flight system depends on the feedback control scheme. Therefore, in a first stage, we apply as a basis the so-called Model Free Control (MFC) for the development of nonlinear flight control law that could be implemented without much difficulty. As second step, an in-depth discussion with respect to the control performance is highlighted. Due to the novel form that we propose, we can raise the performance and the robustness level with regards to structured or unstructured uncertainties. Thus, this nonlinear control that we call Revisited-MFC (R-MFC) is compared with other strategies and in particular with the use of the basic MFC. A detailed evaluation in terms of consumed energy, accuracy and robustness by considering several scenarios and using several metrics is presented. The numerical simulations have shown satisfactory results through an application to a small Vertical Take-Off and Landing (VTOL) quadrotor.