SYSTOL 2016

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Sponsors: MCA UPC MINECO ERDF Technical
co-sponsors:
IEEE CSS RAS CEA-IFAC

Semi-plenary session: Hassan Noura

Analysis of Model-free Approches for Fault-tolerance: Application to a Quarotor UAV


The model-free control concept has been recently developed and tested on several SISO systems. The main advantage of this concept consists of the simplicity of the design of the controller. This is achieved by adding a control law using ultra-local models to a basic classical control technique.

This concept has been used to improve the nominal control of a quadrotor UAV. It has then been developed further to design and implement an actuator fault-tolerant control (FTC) technique. The performance and the limitations of this FTC technique are analyzed through real-time flight tests on the Qball-X4 quadrotor.