Model-free control of a quadrotor vehicle

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.