Publications Scientifiques
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Item 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, AbdellahIn 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.Item 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, AbdellahThis 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 performanceItem Automated planning for mobile manipulators using passive RFID tags(IEEE, 2019) Djezairi, Salim; Boushaki Zamoum, Razika; Akli, Isma; Bouzouia, Brahim; Kouzou, AbdellahRobots are widely used in factories to replace human in tedious or dangerous tasks. The manipulators are very effective in achieving specific and repetitive tasks. However, with the recent progress in robotics, robots need to perform more complex tasks such as part feeding and servicing requiring high level planning to find efficient plans. Mobile Manipulators are ideal for these applications because they have a large workspace. This paper proposes an approach based on a Layered Task Planning for mobile manipulators. It uses information from the passive RFID tags to generate near optimal plans. Passive RFID tags are used in order to achieve full automation. They are a cheap way to encode information on the instances of the environment. The approach is tested in a simulation environment to achieve the task of part feeding in an industrial environmentItem Modeling and control of UAV quadrotor(IEEE, 2019) Zammoum Boushaki, Razika; Aribi, Yacine; Loubar, Hocine; Hamza, Younes; Kouzou, AbdellahSince 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 presentedItem Altitude Back-stepping control of quadcopter(IEEE, 2019) Loubar, Hocine; Zammoum Boushaki, Razika; Aribi, Yacine; Kouzou, AbdellahThis 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 SimulinkItem Modeling of a Small Scale Wind Turbine for Water Pumping Process: case study(L&H Scientific Publishing, 2018) Boubenia, Ahmed; Hafaifa, Ahmed; Guemana, Mouloud; Kouzou, Abdellah; Becherif, MohamedThis paper deals with the study of a small scale wind turbine implementation for agricultural isolated location. Indeed, the electrification of these locations for industrial and agricultural requirements remains one of the largest current projects, especially when dealing with the use of sustainable sources such as solar, hydro and wind power. The main aim of this work is to validate the feasibility of using wind turbine in this location and to evaluate the performance of the excess energy storage capacity, which in this case is stored as water under the potential energy form. The study represented in this paper has been performed under the case of pumping water station using wind turbine in an isolated location at the north of Algeria, considering that this site fulfills the requirement of a favorable wind potential and a permanent water source. The design of the used wind turbine is based on the constraints of the climate data of the selected location and the lower cost of the implementation means, whereas, the water tank dimensions are is optimized with respect to the daily water consumption data and the available excess of energy to be stored and to be used later for water pumping during the period of wind absenceItem Carbone dioxide capture and utilization in gas turbine plants via the integration of power to gas(Elsevier, 2017) Boubenia, Ahmed; Hafaifa, Ahmed; Kouzou, AbdellahRecent studies have shown that the concentration of greenhouse gases such as carbon dioxide in the atmosphere is growing rapidly over recent years and this can lead to major dangers for the planet. This growth is mainly due to the emissions from fossil power source such as diesel plants and gas turbines. The purpose of the present paper is to study the feasibility of integrating a technique based on power to gas concept in fossil power plants such as gas turbine. This work is based on the reduction of pollutant gas emissions produced from a gas turbine plant, especially the carbon dioxide. This captured gas (CO2) can be converted once again into energy via the technique of power to gas concept. This concept starts by extracting CO2 from exhaust gases which is carried out by multiple chemical process. On the other side, H2 is produced from water electrolysis using the excess electricity which is produced but not consumed by the existing loads. finally the production of Methane (CH4) can be achieved by combination of the captured CO2 and the extracted H2 via a reactor known as a reactor of Sabatier, this operation is called methanation or hydrogenation of carbon dioxide. Simulation results are presented for the validation of the proposed technique based on real data obtained on site from a gas turbine plant. Copyright © 2016, Southwest Petroleum University. Production and hosting by Elsevier B.V. on behalf of KeAi Communications Co., Ltd. This is an open access article under the CC BY-NC-NDItem Parametric output feedback stabilization in MIMO systems : application to gas turbine power plant(IEEE, 2017) Nail, Bachir; Kouzou, Abdellah; Hafaifa, Ahmed; Bekhiti, Belkacem