New approach of drone's control

Abstract

In this work, the control of a quadrotor was studied. After having found its mathematical model which makes it possible to simulate its behavior, three nonlinear controls were used: the proportional derivative controller (PDC), the backstepping control (BSC), and the sliding mode control (SMC); in order to study the performance of each of them in quadrotor trajectory tracking. Thus, by comparing the obtained results, it has been demonstrated that with all controllers, the position, orientation, and attitude route following errors can fastly converge to minor levels. In the presence of non-external disturbances, BSC controls the yaw angle and altitude of the quadrotor better than the other two controllers (SMC and PDC). Furthermore, in the presence of disturbances, each controller's steady state error maintained the same order as in the absence of any disturbance. However, as the disturbance increased, the controllers were unable to keep the quadrotor on course. The numerical and simulation findings show that BSC is the last one to collapse, confirming the robustness and efficacy of our built-enhanced control technique. As the next step, the Extended Kalman Filtre (EKF) was used to estimate the states of the system and control it without using angular and linear speed sensors. Moreover, the robustness of the controls in the face of the disturbance of the wind force was studied and estimated using the EKF and was compensated in real-time. It has been proved that the quadrotor returns to the target trajectory after a given amount of time (depending on the dynamics of the EKF estimator). This method's resilience is obvious, and it fills the gaps missed by controllers