Publications Scientifiques

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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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    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
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    Active surge control of the recycle compression system by hybrid adaptive controller
    (IEEE, 2019) Aribi, Yacine; Zammoum Boushaki, Razika; Loubar, Hocine
    Centrifugal compressors are a Type of widely used compression systems for industrial gases. Practically, centrifugal and axial compressors often suffer huge and irreversible damages due to a major non-stability feature widely known as surge. In this paper, a control strategy is proposed in order to avoid falling into surge and to recover the system from deep surge state. An auto-tuned, PID-Based, model free approach based on Multi-stage Fuzzy Inference system is used to provide a real-time tuning for PID parameters in order to achieve optimal control for the Compression system’s recycle valve. The proposed control solution comes to prevent the system from falling into surge and shows promising results while recovering the system back into stability and maintaining stable operating point. Furthermore, a stable and robust, model free control, has been achieved for deep surge control
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    Sliding mode controller for linear and nonlinear trajectory tracking of a quadrotor
    (Praise Worthy Prize, 2020) Loubar, Hocine; Boushaki, Razika Zamoum; Aouati, Ayoub; Bouanzoul, Mahdi
    During the last decades, Unmanned Aerial Vehicles (UAV) quadrotors have been widely used for many applications; furthermore, various techniques for their modelling and control have been proposed. Among the challenges encountered in the design of controllers for a quadrotor is the fact that it is a highly coupled and nonlinear multivariable system. It is also known as being an under-actuated system because it uses four actuators to control six degrees of freedom. In this work, the nonlinear dynamic model of the quadrotor is formulated using the Newton-Euler method. Then SMC and PD controllers are designed in order to investigate linear and nonlinear trajectory tracking capabilities of the quadrotor. Step input response tests are also performed in order to study the performance of both controllers. Chattering effect of SMC controller is minimized using the boundary layer solution technique and genetic algorithm (GA) is used to tune the parameters of both PD and SMC controllers for better performance. The simulation is carried out using MATLAB Simulink and both techniques are compared in order to evaluate their dynamic performance and tracking capabilities