Publications Scientifiques

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Author: search.filters.author.Aribi, YacineSubject: search.filters.subject.Backstepping control

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    Modeling and simulation of three control techniques for UAV quadrotor
    (IEEE, 2019) Loubar, Hocine; Zammoum Boushaki, Razika; Aribi, Yacine; Azouaou, Ait Said; Dorbane, Sedik; Kouzou, Abdellah
    This paper presents the modeling of a four rotor type unmanned aerial vehicle (UAV) called the quadrotor and three techniques to control its altitude, attitude, heading and position. The dynamic model of the quadrotor is nonlinear and has been derived using Newton's and Euler's laws. The first approach is designed using a linear Proportional-Integral-Derivative (PID) control technique. The second approach is based on a nonlinear Back-stepping controller while the third one is a gain Gain-Scheduling based PID controller. The Genetic Algorithm technique has been used to get an optimal tuning for the gains and parameters of the three mentioned controllers. MATLAB/Simulink software was used to evaluate and compare the three designed control approaches in terms of the stability, the effect of possible disturbances and the dynamic performance
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    Modeling and control of UAV quadrotor
    (IEEE, 2019) Zammoum Boushaki, Razika; Aribi, Yacine; Loubar, Hocine; Hamza, Younes; Kouzou, Abdellah
    Since the advances in technologies and the ability to manufacture miniature sensors and controllers using the Micro-Electro-Mechanical Systems (MEMS) technologies, there have been a lot of advances in the Unmanned Aerial Vehicle (UAV) area. A lot of the research conducted focused on the quadrotor due to its previously mentioned advantages of easier manufacturing, compactness and maneuverability among others. a detailed description of the dynamic modelling of the Quadrotor is presented. Various control strategies like the Proportional Derivative Control, the Sliding Mode Control and the Backstepping Control methods have been elucidated and implemented in MATLAB and SIMULINK. Simulations have been carried out and the results have been presented