Browsing by Author "Attouche, Nesrine"

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    Control and implementation of quadrotor using a RaspberryPI as ground station
    (Université M’hamed Bougara de Boumerdes : Institut de Genie Electrique et Electronique, 2023) Attouche, Nesrine; Belkacemi, Malak; Belaidi, Hadjira (Supervisor)
    As the development and utilization of Unmanned Aerial Vehicles (UAVs) continue to grow, it becomes increasingly important to address the challenges related to their control and performance. This master’s project aims to build a stable quadrotor’s fligh tcon- troller using the ESP32 microcontroller, enabling wireless guidance through a Graphical User Interface (GUI) on Raspberry Pi. In this regard, this project provides quadrotor modeling and simulating the Backstepping controller (BSC) approach with various sim- ulation scenarios. Additionally, two control approaches were practically implemented . The firs tapproac hutilize sth eclassica lProportiona lIntegra lDerivativ e(PID )technique, while the second approach employs the modern Backstepping technique. The results ob- tained from the project demonstrate that both control approaches exhibit satisfactory performance and responsiveness in terms of stailizing the quadrotor when implemented in real-world scenarios. However, it has been noticed that the Backstepping Controller can achieve higher performance, whereas, PID performance is limited by tuning and model.
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    Enhanced quadrotor motion analysis through extended
    (SAGE, 2024) Saibi, Ali; Belaidi, Hadjira; Kobzili, Elhaouari; Demim, Fethi; Allam, Ahmed; Attouche, Nesrine; Belkacemi, Malak
    This paper aims to develop a stable quadrotor’s flight controller using the ESP32 microcontroller, enabling wireless guidance through a Graphical User Interface (GUI) on Raspberry Pi. In this context, an Extended Kalman Filter (EKF) with a nonlinear control model is employed to estimate the angular velocity and speed of the quadrotor. Simulationswere conducted using two nonlinear controllers (BackStepping Controller (BSC) and Sliding Mode Controller (SMC)) across various scenarios to prove the efficiency of the proposed method for trajectory tracking. The performance was analyzed using Root Mean Square Error (RMSE) and compared to previous works. It was noticed that in the both control scenarios, the estimated states followed the desired instructions, although a potential overshoot was noted in the case of SMC. Additionally, two control approaches were practically implemented. The first approach utilizes the classical Proportional Integral Derivative (PID) technique, while the second approach employs the modern Backstepping technique. The results demonstrate that both control approaches deliver satisfactory performance and responsiveness in stabilizing the quadrotor in real-world scenarios. However, it has been noticed that the Backstepping controller achieves higher performance, whereas, the PID controller’sperformance is constrained by tuning and model limitations.