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Nonlinear Integral Backstepping ─ Model-Free Control Applied to a Quadrotor System

Younes Al Younes, Ahmad Drak, Hassan Noura, Abdelhamid Rabhi, Ahmed El Hajjaji

Abstract


This paper proposes an integrated structure between the Nonlinear Integral-Backstepping technique (NIB) and the Model-Free Control (MFC) to control the Qball-X4 quadrotor system. The recursive nature of the backstepping theory ensures the system stability according to the Lyapunov theory, and the integral action will compensate for the steady state error. In addition, the MFC aims to handle the un-modeled system dynamics and disturbances. A comparison between the NIB algorithm and the NIB-MFC combination will be implemented and tested on the Qball-X4 vehicle.

Various real-time flight tests are conducted to validate the importance of using the MFC side by side with NIB. The proposed combination shows better performance than the sole NIB in controlling the quadrotor under normal and disturbed flight conditions.


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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2014.v10.275

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