Publications Scientifiques

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Author: search.filters.author.Aribi, YacineSubject: search.filters.subject.Lyapunov

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    Nonlinear Control Algorithms Applications for Quadrotor
    (Institute of Electrical and Electronics Engineers Inc, 2023) Bourouis, Imane Belquis; Boushaki, Razika; Larit, Islem Mohamed; Zerroug, Khalil; Aribi, Yacine; Kouzou, Abdellah
    In this article, we present a detailed mathematical model for a vertical take-off and landing (VTOL) type unmanned aerial vehicle (UAV) known as a quadrotor. The nonlinear dynamic model has been derived using Newton's and Euler's laws. Three control approaches were developed to control the altitude, attitude, heading and position of the quadrotor in space. The first approach is based on a linear Proportional-Integral-Derivative (PID) controller. The second developed controller is Backstepping while the third one is a Gain Scheduling control.The Genetic Algorithm technique has been used to get an optimal tuning for the fore mentioned controllers (gains and parameters) and, hence, improving the dynamic response. Simulation based experiments were conducted using MATLAB to evaluate and compare between the three developed control techniques in terms of dynamic performance, stability and possible disturbances effect.
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    Altitude Back-stepping control of quadcopter
    (IEEE, 2019) Loubar, Hocine; Zammoum Boushaki, Razika; Aribi, Yacine; Kouzou, Abdellah
    This work deals with the study of the stabilization process of a nonlinear control system taking a certain model and derive state space equations through implementation of kinetic and dynamic equations where we present a challenging tool known as backstepping controllers based on Energy functions concept as presented by the famous Russian mathematician Lyaponuv. Simulation of the obtained results is done with Simulink