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Permanent URI for this collectionhttps://dspace.univ-boumerdes.dz/handle/123456789/3081

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Start date: 2020Subject: search.filters.subject.PID controller

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    Quadcopter stabilization using PID controller
    (Université M'hamed Bougara Boumerdès: Institue de génie electronic et electric, 2024) Rezkellah, Rabah; Loubar, Hocine(supervisor)
    During the last decade, quadcopter have been extensively used for many applications. A quadcopter is an under-actuated system because it uses four actuators to control six degrees of freedom, it is also considered as highly coupled and nonlinear system. Therefore, the design of a controller for the stabilization of the quadcopter during vertical flight represents a real challenge. The purpose of this work is to design and practically implement Proportional-Derivative-Integral (PID) control techniques, in order to control a quadcopter during vertical flight .I naddition ,w einvestigat eth eeffe ct ofP IDparamet ertuni ngon stability performance of the quadcopter system and the practical constraints encountered at differen tstage so fth ehardware/softwar eimplementatio nproces so fth equadcopter system, and propose suitable solutions. In this work, an ESP32 microcontroller was used as the main control unit. In addition, the MPU6050 Inertial Measurement Unit (IMU) was used to estimate the tilt angles of the quadcopter. Three PID controllers have been designed for each tilt axis, to maintain the quadcopter leveled during vertical flight.
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    Adaptive control for disturbance rejection in quadrotors.
    (2021) Recham, Zine Eddine; Amrouche, Hafid; Boushaki, Razika (supervisor);
    In order to fix the issue of precise trajectory tracking control for a quadrotor in the influence of environmental disturbance and system model parameter uncertainty, three control techniques were developed to control the quadrotor’s altitude, heading and position in space; the Proportional-Integral-Derivative or PID controller, the sliding mode controller and the backstepping controller. Simulation based experiments have been performed using MATLAB/SIMULINK to evaluate and compare between the three developed techniques in terms of dynamic performances, stability and disturbance effects.
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    Safe navigation of a differential drive mobile Robot using a PID controller
    (2020) Nekkache, Tarek; Haciane, Sofiane; Hachour, O. (supervisor)
    The autonomous wheeled mobile robots are very interesting subject both in scientific research and practical applications. They are considered from several different perspectives mainly, engineering and computer science levels. This project deals with the modeling and control of mobile robots combining the differential drive robot and unicycle models which will be simulated using a PID controller. The PID controller is based on feedback and tries to minimize the error using well-tuned parameters. The Odometry has been used to identify the distance traveled by the robot. The sensing circuitry mounted on the robot provides the feedback data to assure a safe outdoor navigation in a hostile environment. The Hybrid Automata principle provides a switching logic between the designed controllers. In this report, linear algebra is applied to develop a satisfying and stable model which is simulated using a MATLAB based simulator called "Sim.I.am" that allows the design and implementation of controllers on the robot.
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    Fuzzy-PID speed controller for an induction motor
    (2020) Bougheloum, Dhya Eddine; Benyahia, Sofiane; Boushaki, Razika (supervisor)
    The main objective of vector control or field-oriented control (FOC) control is to have decoupled control of flux and torque in three phase induction motors. FOC rotates the stationary stator reference frame into rotating reference frame attached to the rotor flux linkage space phasor which results in a decomposition of stator currents into torque and flux producing components under orthogonality. This will give fast dynamic response as compares to other scalar drives i.e. variable frequency drive (V/F). This project presents a Fuzzy-PID control system for the speed control of a three-phase squirrel cage induction motor. The proposed method uses both Fuzzy logic and conventional controllers along with vector control technique. This method combines the advantages of the fuzzy logic controller and conventional controllers to improve the speed response of the induction motor. The FLC observes the closed loop error signal and then controls the PID input error signal so that the actual speed matches the reference speed with reduced rise time, settling time, and peak over shoot. Implementation and simulation results using MATLAB of multiple controllers such as (PID, Fuzzy, and Fuzzy-PID) are compared along with conventional PI controller in terms of some performance measurements such as rise time (tr), maximum percent overshoot (Mp), settling time (ts), and steady state error (Ess) at various load conditions. The results of the simulation verified the effectiveness of the proposed speed controller model under different operating conditions and demonstrated improvements in performance in speed tracking and system's stability.