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Veuillez utiliser cette adresse pour citer ce document : http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/9457

Titre: Modeling and control of mini unmanned aerial vehicles (UAV)
Auteur(s): Dorbane, Sedik
Ait Said, Azouaou
Boushaki, Razika (supervisor)
Mots-clés: PID controller
MATLAB/Simulink
System modeling : Control
Date de publication: 2019
Résumé: In this work, a detailed mathematical model for a Vertical Takeoff and Landing type Unmanned Aerial Vehicle known as the quadrotor is presented. 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 a nonlinear Back-stepping controller while the third one is a gain Grain-Scheduling based PID controller. 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.
Description: 50 p.
URI/URL: http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/9457
Collection(s) :Contrôle

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