Power

Permanent URI for this collectionhttps://dspace.univ-boumerdes.dz/handle/123456789/3079

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    Control design for trajectory tracking of quadrotor UAV
    (2022) Boucherba, Djalal Eddine; Ammar, Abdelkarim
    This work studies the modeling and control of the quadcopter. The Newton-Euler method is used to develop the quadcopter's nonlinear dynamic model, and design controllers for attitude and trajectory tracking. Two subsystems describe the motion of the quadcopter; a rotational subsystem for altitude and heading, and a translational subsystem for position. Three controllers were proposed to achieve position tracking, the PID controller, the Fractional Order PID controller and the Sliding Mode controller. The controllers were implemented on the quadrotor model using Matlab/Simulink. Finally, the performance of thE proposed controllers was demonstrated in a simulation study and analysis.
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    Modeling and nonlinear control of 2-DOF helicopter “Quanser Aero2”
    (Université M’Hamed BOUGARA de Boumerdes : Institut de génie electrique et electronique (IGEE), 2023) Bahloul, Affaf; Benaouda, Imen; Fellag, Ratiba (Supervisor); Ammar, Abdelkarim
    This work presents the methods for the modeling and control of a 2-degree-of-freedom (2-DOF) helicopter, specifically the Quanser Aero 2 system, using four different con- trollers of two types of namely classical control techniques, the Proportional-Derivative (PD), and the Linear Quadratic Regulator (LQR) controllers, as well as two nonlinear control techniques namely the sliding mode controller (SMC) and the Super-twisting controller (STC). The four controllers are mainly implemented in order to overcome the problems of control of 2-DOF helicopter systems essentially linked to the non- linearity of the dynamic models. The nonlinear dynamic model of the system is first obtained using Lagrange formalism which is linearized after that for classical control design. The proposed control schemes are then simulated using MATLAB/Simulink and implemented in real-time on the Quanser Aero2 platform. A comparative study follows to evaluate the performance of the designed controllers for both simulation and implementation results.