Publications Internationales

Permanent URI for this collectionhttps://dspace.univ-boumerdes.dz/handle/123456789/13

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Subject: search.filters.subject.Backstepping

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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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    Quadcopter nonsingular finite-time adaptive robust saturated command-filtered control system under the presence of uncertainties and input saturation
    (Springer Science and Business Media B.V., 2021) Eliker, Karam; Grouni, Said; Tadjine, Mohamed; Zhang, Weidong
    The nonsingular finite-time adaptive robust saturated command-filtered control problem for quadcopter unmanned aerial vehicles is investigated in this paper. Firstly, an adaptive robust command-filtered control, based on backstepping command-filtered and nonsingular fast terminal sliding mode control, is developed. Secondly, the parametric and nonparametric uncertainties are estimated by using a small number of adaptive laws. Also, a projector function is used to ensure the estimation of quadcopter parameters within an admissible set. Thirdly, error compensating signals are employed to tackle the undesirable effect of command filters. Finally, saturation compensator signals are developed to deal with the adverse effect of saturation in the system. The proposed control strategy can cope with the “explosion of complexity” and “singularity” problems. In addition, it can alleviate the chattering phenomenon and satisfy practical finite-time stability. The numerical simulation results and comparison display the effectiveness of the proposed technique over the other control methods