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Optimal model-free backstepping control for a quadrotor helicopter

Abstract : This paper proposes a design of a direct optimal control for a class of multi-input–multi-output (MIMO) nonlinear systems. This work focuses on the design of optimal model-free backstepping controller for a MIMO quadrotor helicopter perturbed by unknown external disturbances. The proposed method consists of using a model-free-based backstepping controller optimized by a cuckoo search algorithm. First, the overall dynamic model is decoupled into six interconnected subsystems. Then, the ideal backstepping controller with a known dynamic function is designed for each subsystem. The model-free based on backstepping control uses a new estimator approach to approximate the unknown dynamic model functions. After that, the global asymptotical stability of the closed-loop control system is proved via the Lyapunov theory. Moreover, the parameters of the proposed controller are optimized by the cuckoo search algorithm according to a cost function. The results of numerical simulations applied to the quadrotor helicopter system demonstrate the robustness and the effectiveness of the proposed control strategy.
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https://hal-uphf.archives-ouvertes.fr/hal-03424362
Contributor : Mylène Delrue Connect in order to contact the contributor
Submitted on : Wednesday, November 10, 2021 - 2:34:11 PM
Last modification on : Thursday, November 11, 2021 - 4:00:03 AM

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Hossam Eddine Glida, Latifa Abdou, Abdelghani Chelihi, Chouki Sentouh, Seif-El-Islam Hasseni. Optimal model-free backstepping control for a quadrotor helicopter. Nonlinear Dynamics, Springer Verlag, 2020, 100 (4), pp.3449-3468. ⟨10.1007/s11071-020-05671-x⟩. ⟨hal-03424362⟩

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