Institut de Génie Electrique et d'Electronique

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Subject: search.filters.subject.Autonomous Quadrotor

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    Modeling and control of autonomous quadrotor
    (2020) Hamdous, Gaya; Bahmed, Kousseila; Boushaki, Razika (supervisor)
    In this work, a detailed mathematical model for a quadrotor UAV is presented. The non- linear model has been derived using both Newton’s and Euler’s laws and then linearized around an equilibrium point. Three linear control techniques were developed to control the quadrotor’s altitude, attitude, heading and position in space; a linear Proportional-Integral- Derivative, or PID, controller, a linear Proportional-Derivative, PD, Controller and a PD based Gain Scheduling Controller. Ziegler-Nichols for tuning PID has been used to tune the PID and PD parameters and Genetic Algorithm has been used to tune the PD based Gain Scheduling controller. Simulation based experiments have been conducted using MATLAB/SIMULINK to evaluate and compare between the three developed approaches in term of dynamic performances, stability and disturbance effects.
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    Modeling and control of autonomous quadrotor
    (2020) Belatreche, Ramzi; Boushaki, Razika (supervisor)
    This project discusses the development of detailed mathematical model for specific type of an unmanned aerial vehicle (UAV), which has Vertical Takeoff and Landing (VTOL) ability, known as quadcopter. Mathematical model of quadrotor in state space form is derived; it utilizes Newton and Euler equations for three-dimensional motions. This mathematical model is nonlinear and accurate enough including the aerodynamic effects and rotor dynamics. Quadrotor dynamics can be divided into two subsystems; translational subsystem and rotational subsystem. Translational subsystem is an under actuated system as it depends on roll, pitch, yaw angles and the translational state variables. The rotational subsystem is fully-actuated and only depends on the rotational states. Then development of a nonlinear control approache to control the attitude and position of the quadrotor in space is discussed. A Sliding Mode Controller is designed to control the roll angle, pitch angle, yaw angle, altitude and positions. Simulation results after implementation SMC controller on MATLAB/Simulink are presented.