City Research Online

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.

Publication Type:	Conference or Workshop Item (Paper)
Additional Information:	© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Publisher Keywords:	Model-Free Control, Vertical Take-Off and Landing Vehicle, PD controller, robust control, Ultra local model
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TL Motor vehicles. Aeronautics. Astronautics
Departments:	School of Science & Technology School of Science & Technology > Engineering
SWORD Depositor:	Symplectic Administrator

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