Optimal model-free backstepping control for a quadrotor helicopter

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 con...

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Bibliographic Details
Published inNonlinear dynamics Vol. 100; no. 4; pp. 3449 - 3468
Main Authors Glida, Hossam Eddine, Abdou, Latifa, Chelihi, Abdelghani, Sentouh, Chouki, Hasseni, Seif-El-Islam
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 01.06.2020
Springer Nature B.V
Springer Verlag
Subjects
Automatic
Automotive Engineering
Classical Mechanics
Computer simulation
Control
Control stability
Controllers
Cost function
Dynamic models
Dynamic stability
Dynamical Systems
Engineering
Engineering Sciences
Helicopter control
Mechanical Engineering
MIMO (control systems)
Nonlinear systems
Optimal control
Original Paper
Robustness (mathematics)
Search algorithms
Subsystems
Vibration
Backstepping controller
Cuckoo search algorithm
Quadrotor helicopter
Optimization
Model-free control
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Summary: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.
ISSN:0924-090X
1573-269X
DOI:10.1007/s11071-020-05671-x