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| Titre: | Nonlinear Control Algorithms Applications for Quadrotor |
| Auteur(s): | Bourouis, Imane Belquis
Boushaki, Razika
Larit, Islem Mohamed
Zerroug, Khalil
Aribi, Yacine
Kouzou, Abdellah |
| Mots-clés: | UAV
VTOL
PID
Backstepping
Kinematic Model
modeling
Newton-Euler
6DOF)
Lyapunov |
| Date de publication: | 2023 |
| Editeur: | Institute of Electrical and Electronics Engineers Inc |
| Collection/Numéro: | 2023 20th International Multi-Conference on Systems, Signals & Devices (SSD), Mahdia, Tunisia, 2023;pp. 1003-1013 |
| Résumé: | In this article, we present a detailed mathematical model for a vertical take-off and landing (VTOL) type unmanned aerial vehicle (UAV) known as a quadrotor. The nonlinear dynamic model has been derived using Newton's and Euler's laws. Three control approaches were developed to control the altitude, attitude, heading and position of the quadrotor in space. The first approach is based on a linear Proportional-Integral-Derivative (PID) controller. The second developed controller is Backstepping while the third one is a Gain Scheduling control.The Genetic Algorithm technique has been used to get an optimal tuning for the fore mentioned controllers (gains and parameters) and, hence, improving the dynamic response. Simulation based experiments were conducted using MATLAB to evaluate and compare between the three developed control techniques in terms of dynamic performance, stability and possible disturbances effect. |
| URI/URL: | https://ieeexplore.ieee.org/document/10411230
10.1109/SSD58187.2023.10411230
http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/13652 |
| ISBN: | 979-835033256-8 |
| Collection(s) : | Communications Internationales
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