控制理论(社会学)
多输入多输出
控制器(灌溉)
车辆动力学
非线性系统
控制工程
计算机科学
控制系统
控制(管理)
工程类
汽车工程
人工智能
计算机网络
频道(广播)
物理
电气工程
量子力学
农学
生物
作者
Younes Al Younes,Ahmad Drak,Hassan Noura,Abdelhamid Rabhi,Ahmed El Hajjaji
标识
DOI:10.1109/icuas.2014.6842366
摘要
In this paper, the Model-Free Control (MFC) is used and tested on a Multi-Input-Multi-Output (MIMO) nonlinear system, which is a quadrotor vehicle. The system is decomposed into different-dependent Single-Input-Single-Output (SISO) sub-systems, where the MFC algorithm is applied on each one of them. MFC aims at compensating the time-varying disturbances and un-modeled system dynamics that the optimal feedback controller fails to cope with. A comparison between LQR feedback controller with and without the MFC will be implemented and tested on a real quadrotor vehicle. Different flight test results validate the importance of using the MFC, and its capability to control the quadrotor system that is using a degraded feedback controller, as well.
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