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Optimal model-free backstepping control for a quadrotor helicopter

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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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Acknowledgements

The authors acknowledge the support of the University of Biskra. This work was supported also by the Algerian Ministry of Higher Education and Scientific Research.

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Authors and Affiliations

  1. LMSE Laboratory, Department of Electrical Engineering, University of Biskra, Biskra, Algeria

    Hossam Eddine Glida & Seif-El-Islam Hasseni

  2. LI3CUB Laboratory, Department of Electrical Engineering, University of Biskra, Biskra, Algeria

    Latifa Abdou & Abdelghani Chelihi

  3. Department of Electronics, Faculty of Technology, Constantine 1 University, Constantine, Algeria

    Abdelghani Chelihi

  4. LAMIH-UMR CNRS 8201, Department of Automatic Control, Hauts-de-France Polytechnic University, Valenciennes, France

    Chouki Sentouh

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  1. Hossam Eddine Glida
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Correspondence to Hossam Eddine Glida.

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Glida, H.E., Abdou, L., Chelihi, A. et al. Optimal model-free backstepping control for a quadrotor helicopter. Nonlinear Dyn 100, 3449–3468 (2020). https://doi.org/10.1007/s11071-020-05671-x

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  • DOI: https://doi.org/10.1007/s11071-020-05671-x

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