Model-Free Control Applied For Position Control Of Quadrotor Using Ros

In this paper, an intelligent PD (iPD) controller named Model-Free Controller is proposed. Herein, it is used to control the position of a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) Quadrotor. This strategy increases the control performance as well as its robustness level with respect to the classical PD. This is due to the estimation principle provided by the ultra-local model that estimate the unknown disturbances and uncertainties each iteration. The efficiency of the proposed strategy is shown through various numerical simulations where a thorough analysis is provided. Moreover, a comparison study is elaborated between the iPD and the classical PD.