2024
DOI: 10.1007/s10846-024-02107-1
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On the Performance of the Model-Free Adaptive Control For A Novel Moving-Mass Controlled Flying Robot

Mohsen Heydari,
Shahin Darvishpoor,
Alireza Basohbat Novinzadeh
et al.

Abstract: In this paper, the performance of Model-Free Adaptive Control (MFAC) has been investigated on a novel and specific moving-mass controlled (MMC) flying robot system. The novel one-degree-of-freedom (1 DOF) MMC flying robot test bed presented in this paper has highly nonlinear and slow dynamics with a variable center of gravity (CoG) and moment of inertia. This makes the control of this system a challenging problem. One of the solutions to this challenge is the use of data-driven control methods, in particular, … Show more

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