Model-free observer for state estimation applied to a quadrotor

Author

Al Younes, Younes ; Noura, Hassan ; Muflehi, Mohamad ; Rabhi, Abdelhamid ; El Hajjaji, Ahmed

Author_Institution

Mech. Eng. Fac., Higher Colleges of Technol., Al Ain, United Arab Emirates

fYear

2015

fDate

9-12 June 2015

Firstpage

1378

Lastpage

1384

Abstract

In this paper, the Nonlinear Model-Free Observer (NMFO) is proposed to estimate the states of the quadrotor vehicle. NMFO is an integrated structure of the Model-Free technique and the nonlinear Thau observer. The Thau observer will accommodate for the nonlinearities in the quadrotor model and MFO will compensate for the un-modeled dynamics, modeling errors, and the system uncertainties. Flight test results have validated the proposed observer performance towards fault-free and actuator fault conditions.

Keywords

actuators; aerospace testing; aircraft control; compensation; control nonlinearities; helicopters; nonlinear control systems; observers; uncertain systems; NMFO; actuator fault condition; fault-free condition; flight test; integrated structure; modeling error compensation; nonlinear Thau observer; nonlinear model-free observer; nonlinearities; observer performance; quadrotor vehicle; state estimation; system uncertainties; unmodeled dynamics compensation; Actuators; Electronic mail; Mathematical model; Observers; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Unmanned Aircraft Systems (ICUAS), 2015 International Conference on

Conference_Location

Denver, CO

Print_ISBN

978-1-4799-6009-5

Type

conf

DOI

10.1109/ICUAS.2015.7152433

Filename

7152433