Browsing by Author "Boushaki, Razika(Directeur de thèse)"

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Adaptive control of drone by rejection of disturbances
(Université M'Hamed Bougara Boumerdès : Faculté de Technologie, 2025) Hadid, Samira; Boushaki, Razika(Directeur de thèse)
Quadrotor or Unmanned Aerial Vehicles (UAVs), a popular type, use four propellers for flight and are gaining popularity due to their versatility and ease of use. Interest in controlling UAVs has significantly increased recently. This work focuses on the control and trajectory planning challenges of quadrotors. While many studies address disturbances and faults, the inherent underactuation (four inputs controlling six degrees of freedom) makes precise control and trajectory tracking difficult, particularly in complex scenarios. The research aims to improve quadrotor control in challenging environments. The Newton-Euler method is used in this work to develop the quadrotor's dynamic model. Then, an exploration using Dyna-Q reinforcement learning for autonomous quadrotor navigation in complex environments. The algorithm allows the quadrotor to learn optimal flight paths through trial and error. In addition, this thesis presents an in-depth investigation into improving the autonomy and control capabilities of quadrotors. The focus is on developing and implementing various linear and nonlinear control strategies to regulate the behavior of quadrotor UAVs. Each control strategy is carefully adjusted and fine-tuned to achieve the desired dynamic response and stability during quadrotor flight. Following that, we provide a comparison of the designed controllers. It then focuses on comparing the performance of fractional-order PID (FOPID) and sliding mode control (SMC) for trajectory tracking, emphasizing robustness against disturbances and nonlinearities. Furthermore, the research introduces an intelligent trajectory planning system using Dyna-Q learning to enable autonomous navigation and obstacle avoidance in complex environments, enhancing quadrotor adaptability and responsiveness for various applications. Extensive simulations validate the proposed control strategies and trajectory planning. Overall, this study contributes significantly to the field of quadrotor control and autonomy, providing valuable insights and solutions for improving flight stability and enabling secure and efficient operations in a variety of real-world scenarios.
Feedback linearization control of multivariable and nonlinear systems (UAV)
(2022) Loubar, Hocine; Boushaki, Razika(Directeur de thèse)
ors have been widely used for many applications; furthermore, various techniques for their modelling and control have been proposed. Among the challenges encountered in the design of controllers for a quadrotor is the fact that it is a highly coupled and nonlinear multivariable system. It is also nown as being an under-actuated system because it uses four actuators to control six degrees of freedom. In this work, the nonlinear dynamic model of the quadrotor is formulated using the Newton-Euler method. Then different linear and nonlinear control techniques for quadrotor trajectory tracking are investigated. First, SMC and PD controllers for linear and nonlinear trajectory tracking of the quadrotor are implemented, and genetic algorithm is used to optimize the controller parameters according to different objective functions. Both techniques are evaluated and compared in terms of trajectory tracking capabilities, dynamic performance, and the effect of possible disturbances. Then, backstepping and gain scheduling ontrol techniques are designed in order to control the altitude and attitude of the quadrotor, in the absence of disturbances and also in a windy environment. Finally, a new feedback nearization approach based on coordinate transformation and state feedback, is proposed. In this approach, the state space description of nonlinear quadrotor system is transformed into a linear quasi block controller decoupled form, then eigenstructure assignment using state feedback is applied. The proposed approach is used to control a quadrotor, in order to assess its performance in terms of trajectory tracking capabilities, time response performance, robustness and robust stability. The simulation is carried out using MATLAB/Simulink software.
New approach of drone's control
(Universite M'Hamed Bougara Boumerdès : Institut de Génie Eléctrique et Eléctronique, 2023) Saibi, Ali; Boushaki, Razika(Directeur de thèse)
In this work, the control of a quadrotor was studied. After having found its mathematical model which makes it possible to simulate its behavior, three nonlinear controls were used: the proportional derivative controller (PDC), the backstepping control (BSC), and the sliding mode control (SMC); in order to study the performance of each of them in quadrotor trajectory tracking. Thus, by comparing the obtained results, it has been demonstrated that with all controllers, the position, orientation, and attitude route following errors can fastly converge to minor levels. In the presence of non-external disturbances, BSC controls the yaw angle and altitude of the quadrotor better than the other two controllers (SMC and PDC). Furthermore, in the presence of disturbances, each controller's steady state error maintained the same order as in the absence of any disturbance. However, as the disturbance increased, the controllers were unable to keep the quadrotor on course. The numerical and simulation findings show that BSC is the last one to collapse, confirming the robustness and efficacy of our built-enhanced control technique. As the next step, the Extended Kalman Filtre (EKF) was used to estimate the states of the system and control it without using angular and linear speed sensors. Moreover, the robustness of the controls in the face of the disturbance of the wind force was studied and estimated using the EKF and was compensated in real-time. It has been proved that the quadrotor returns to the target trajectory after a given amount of time (depending on the dynamics of the EKF estimator). This method's resilience is obvious, and it fills the gaps missed by controllers
System tasks planning for mobile manipulator in a cyber-physical framework
(Université M'Hamed Bougara : Institut de génie électrique et électronique, 2022) Djezairi, Salim; Boushaki, Razika(Directeur de thèse)
La robotiqueestl’ensembledestechniquespermettantlaconception,l’impl´ementationetl’exploitationdes robots.Celainclutlesrobotsmobilestelquelesrobots`arouesetleshumano¨ýdes,quisontcaract´eris´es parleurcapacit´edesed´eplacerdansdesenvironnementsvastes,etlesmanipulateursquiontlacapacit´ede manierdesobjets. Ilyaparailleursunautretypederobotquicombinelamobilit´eetlacapacit´edemanierdesobjects,ce sontlesrobotsManipulateursMobiles(MMs).Ilssontg´en´eralementutilis´escommedesbrasmanipulateurs ( Accomplirlatˆachedesaisirunobjet),port´esparuneplatformemobile.Cesrobotso.rentlapossibilit´e d’accomplirdestˆachescomplexes(maintenanceindustrielle,robotsdeservices...). Le butd’utiliserdesrobotestd’´eviter`al’hommedefairelestˆachesext´enuantes.Parcontre,ungrand nombredeprobl`emessurgit,surtoutpourlesrobotsMMs,quisontconsid´er´escommedessyst`emescomplexes. Danscetteperspective,ilyadesth`emesdi.´erentsdanslalitt´eraturequipermettentdesurmonterces difficult´es.Parexemple,laplanificationdetrajectoire,lecontrˆolecoordonn´e,lavisionrobotiqueetla navigation. Un nouveauth`emeestapparur´ecemment,quiestlaplanificationdestˆaches.C’estune´etapen´ecessaire vulacomplexit´edestˆachesquipeuventˆetree.ectu´eesparlesrobotsMMs.Lesplanificateursdetˆachessont desmodulesauhautniveaudepriseded´ecision. lebutdusujetpropos´eestdeconcevoiretimpl´ementerunearchitecturehi´erarchiqued´edi´ee`alaplanifica- tionetl’ex´ecutiondestˆachesquipeuventˆetree.ectu´eesparunrobotMM.Laplanificationestessentielleparce qu’ilestn´ecessaireded´ecomposerlestˆachescomplexesquidoiventˆetreex´ecut´ees.Desniveauxhi´erarchiques peuventˆetred´efinis,cesniveauxsontcommesuit: Unecoucheded´ecisiondanslaquellelatˆachecomplexe`aex´ecuterestd´efinie.Danscettepartie,lebut quelerobotdoitatteindre(suivreunecible,saisirunobjet,naviguer...)doitˆetred´ecrit.Dansla deuxi`emecouche,lestˆachessontdivis´eesensoustachesassign´ees`achaquesous-syst`emerobotiqueselonles capacit´esdechacun(brasmanipulateurouplateformemobile) Le couchesup´erieurecommuniqueaveclacoucheinf´erieurepourdemanderlesinformationsdescapteurs durobots. l’executionellememesepasseauniveauinf´erieur.Ceplanificateurdetacheestdestin´e`aˆetreinclusdans unsyst`emecyber-physiquepourl’integrationdelar´eactivit´edansl’aspectdeprisededecisiondusyst`eme. Le robotdoitsuivrelesinstructionsd’unemani`ereordonn´ee.celasignifiequ’unere-planificationdetˆaches s’imposequanddeschangementsinh´erentsontlieudansl’environnementcyber-physique