{"title":"四旋翼飞行器三维自主导航的重访无模型控制器:恶劣飞行条件下的特征分析","authors":"Y. Bouzid, H. Siguerdidjane, Y. Bestaoui","doi":"10.1109/ICCA.2017.8003183","DOIUrl":null,"url":null,"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.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Revisited model-free controller for 3D autonomous navigation of quadrotor: Features analysis in harsh flight conditions\",\"authors\":\"Y. Bouzid, H. Siguerdidjane, Y. Bestaoui\",\"doi\":\"10.1109/ICCA.2017.8003183\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":379025,\"journal\":{\"name\":\"2017 13th IEEE International Conference on Control & Automation (ICCA)\",\"volume\":\"95 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 13th IEEE International Conference on Control & Automation (ICCA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCA.2017.8003183\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 13th IEEE International Conference on Control & Automation (ICCA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCA.2017.8003183","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Revisited model-free controller for 3D autonomous navigation of quadrotor: Features analysis in harsh flight conditions
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.