Browsing by Author "Saibi, Ali"

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    Backstepping Control of Drone †
    (MDPI, 2022) Saibi, Ali; Boushaki, Razika; Belaidi, Hadjira
    This work derives the models which can be used to design and implement control laws for six degrees-of-freedom (DOF) quadrotor stability. The first part of this paper deals with the presentation of the background of quadrotor modeling; the second part describes the direct control of the drone using the backstepping control principal. This principal is based on the division of the system into several sub-systems in a cascade, which makes the control laws generated on each subsystem, in a decreasing manner, until a global control law for the whole system is generated. The simulation results for the sm controller are generated on the MATLAB/Simulink platform; the results show a good performance in both the transient and steady-state operations.
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    Enhanced backstepping control for disturbances rejection in quadrotors
    (2022) Saibi, Ali; Belaidi, Hadjira; Boushaki, Razika; Recham, Zine Eddine; Amrouche, Hafid
    This work studies the issue of quadrotor trajectory tracking control in presence of disturbances and model uncertainties. The paper starts by extracting the kinematics and dynamics models of the quadrotor. This results in the motion equations, which eventually serve as a blueprint for creating the suggested smart flight control scheme. Secondly, an enhanced backstepping controller (BSC) is developed and tested to keep the quadrotor tracking the desired trajectory both in steady state and in presence of disturbances. Finally, BSC beside two other controllers: sliding mode controller (SMC) and proportional derivative controller (PDC) are implemented in MATLAB/Simulink and the obtained results are compared and conclusions are extracted. Therefore, it is established that PDC is not robust to disturbances as noise will be amplified due to the derivative term. Whereas, although SMC is robust to parameter variations and disturbances; however, it is not continuous which may affect the actuators due to the increased gains which may saturate them. In contrast, BSC requires too many tuning parameters; however, it ensures Lyapunov Stability and does not depend on the system as it does not involve cancelling system nonlinearity. Moreover, BSC results are 1017 better than the results of the two other controllers.
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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.
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    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