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Observer Based controller for a Foldable Quadrotor 12

Observer Based Controller for a Foldable Quadrotor

引用

2024 12th International Conference on systems and control, ICSC 2024

作者： Mehal, Zakaria Rekia, SidAli Bouzid, Yasser Guiatni, Mohamed Ecole Militaire Polytechnique Complex Systems Control and Simulators Laboratory Algiers Algeria

ISBN: (纸本)9798331531812

This paper presents an innovative application of Active Disturbance Rejection control (ADRC) to a foldable quadrotor with rotating arms. The study addresses challenges posed by variations in moments of inertia and changes in the center of gravity (COG), demonstrating ADRC's capability to enhance the quadrotor's stability and robustness. Internal disturbances due to parameter uncertainties and external disturbances from simulated perturbations were effectively rejected by the ADRC, ensuring stable flight and precise state tracking. Results highlight ADRC's potential to improve the performance and resilience of foldable quadrotors in dynamic environments. © 2024 IEEE.

关键词： Disturbance rejection

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A Sampling-Based Approach to UAV Manipulator Path Planning 14

A Sampling-Based Approach to UAV Manipulator Path Planning

引用

19th International Conference on Software Technologies, ICSOFT 2024

作者： Housseyn, Zamoum Mohamed, Guiatni Yasser, Bouzid Amine, Alouane Mohamed Atmane, Khelal Guidance and Navigation Laboratory Ecole Militaire Polytechnique Algiers Algeria Control of Complex Systems and Simulators Laboratory Ecole Militaire Polytechnique Algiers Algeria

ISBN: (纸本)9789897587061

This paper presents a new approach to path planning for unmanned aerial manipulator systems (UAMs) using Sampling-Based Methods and Random Geometric Models (RGM) to efficiently search the configuration space for feasible, collision-free paths. The RGM generates random points in the UAM’s workspace to guide sampling-based algorithms in constructing graphs that link the aerial manipulator’s initial and final positions. These graphs are then explored using the RRT∗ algorithm to find an optimal collision-free path. The effectiveness of this approach is demonstrated through different scenarios, showing that it outperforms existing path planning techniques in terms of efficiency, computing time, and robustness. The proposed framework is adaptable to various application scenarios and environments, making it a valuable tool for applications such as search and rescue missions, surveillance, and inspection tasks. © 2024 by SCITEPRESS – Science and Technology Publications, Lda.

关键词： Motion planning

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Vision-Based Modeling and control of Quadcopter for Uncooperative Ground Mobile Target Tracking 5th

Vision-Based Modeling and Control of Quadcopter for Uncooper...

引用

5th International Conference on Electrical Engineering and control Applications, ICEECA 2022

作者： Bouzerzour, Hamza Allam, Ahmed Guiatni, Mohamed Complex Systems Control and Simulators Laboratory Ecole Militaire Polytechnique BP 17 Bordj El Bahri Algiers16111 Algeria Control Process Laboratory Ecole Nationale Plytechnique Algiers Algeria

ISBN: (纸本)9789819700448

This paper proposes a novel approach based vision for modeling and controlling a Quadcopter UAV (QUAV) for uncooperative ground mobile target tracking applications. The proposed method is an Image-Based Visual Servoing (IBVS) approach using the dynamics of the target’s image features, calculated in a virtual camera as well as QUAV’s cinematic and dynamic model elaborated with respect to the virtual camera frame and the image’s features moments. A control scheme based on the Sliding Mode controller (SMC) is used to ensure the QUAV control in the presence of external disturbances and measurement uncertainties. Simulation results are presented to assess the proposed strategy under realistic conditions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Target tracking

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Adaptive Synergetic control of a Multi-rotor with a Manipulation Arm 5th

Adaptive Synergetic Control of a Multi-rotor with a Manipula...

引用

5th International Conference on Electrical Engineering and control Applications, ICEECA 2022

作者： Housseyn, Zamoum Yasser, Bouzid Mohamed, Guiatni Guidance and Navigation Laboratory Ecole Militaire Polytechnique Bordj El Bahri Algeria Control of Complex Systems and Simulators Laboratory Ecole Militaire Polytechnique Bordj El Bahri Algeria

ISBN: (纸本)9789819700448

This work offers a new control design for an aerial manipulation system consisting of a flying platform (multi-rotor) and a manipulator arm with n degrees of freedom based on synergetic control theory. The synergistic control’s design is initially created using known system characteristics. On the other hand, the manipulator interacts with the environment. When the robot end effector is in touch with the environment or carrying unknown payloads, external forces and moments must be included in the system equations of motion. So, for a multirotor-equipped manipulator arm under external perturbation, an adaptive synergetic control technique is presented to estimate the disturbance and assure the asymptotic stability of the adaptive synergetic control laws of the aerial manipulation system. Finally, numerical simulations and 3D trajectory tracking scenarios were used to show that the suggested approach is efficient. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Manipulators

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Observer Based controller for a Foldable Quadrotor

Observer Based Controller for a Foldable Quadrotor

引用

International Conference on systems and control (ICSC)

作者： Zakaria Mehal SidAli Rekia Yasser Bouzid Mohamed Guiatni Complex Systems Control and Simulators Laboratory Ecole Militaire Polytechnique Algiers Algeria

ISBN: (数字)9798331531812

ISBN: (纸本)9798331531829

关键词： Robust control Uncertain systems Refining Stability analysis Robustness Sensor systems Sensors Quadrotors Resilience Gravity

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Modeling and trajectory tracking by robust control of a hexacopter with a 3-D OF manipulator arm 2

Modeling and trajectory tracking by robust control of a hexa...

引用

2nd International Conference on Advanced Electrical Engineering, ICAEE 2022

作者： Housseyn, Zamoum Yasser, Bouzid Mohamed, Guiatni Guidance and Navigation Laboratory Ecole Militaire Polytechnique Algeria Control of Complex Systems and Simulators Laboratory Ecole Militaire Polytechnique Algeria

ISBN: (数字)9781665417419

ISBN: (纸本)9781665417419

This paper presents the modeling and control of an aerial manipulation system that consists of two subsystems: an aerial platform represented by a hexacopter (DJI F550) and a lightweight three-degree-of-freedom (3-DOF) manipulator arm that can be easily integrated into our hexacopter. We also propose a new approach to modeling aerial manipulation systems based on the dynamics of floating base systems with tree structures, such as those studied in bio-inspired soft robotics and space robotics. This system presents many challenges, such as asymmetry, continuously changing inertia, and the center of gravity. These challenges pose a significant control problem in the trajectory tracking of an aerial manipulation robot. For this reason, a robust control technique based on the sliding mode controller is proposed to achieve a high accuracy 3D trajectory tracking objective. Finally, numerical simulations were conducted to demonstrate the efficacy of the suggested technique. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Optimal PID control of a Novel Multirotor with Inclined Rotors and Spatial Configuration 6

Optimal PID Control of a Novel Multirotor with Inclined Roto...

引用

6th International Conference on Networking and Advanced systems, ICNAS 2023

作者： Ghazali, Mohamed Bouzid, Yasser Derrouaoui, Saddam Hocine Belhocine, Mahmoud Ecole Militaire Polytechnique Complex Systems Control and Simulators Laboratory Algiers Algeria Ecole Superieure Ali Chabati Algiers Algeria Advanced Technology Development Centre Algiers Algeria

ISBN: (纸本)9798350319170

This work introduces an innovative multirotor UAV featuring a spatial configuration and inclined rotors to address under-Actuation challenges. The modeling of the multirotor is based on the Newton-Euler formalism, accounting for structural asymmetry and non-coincident center of gravity with the body frame origin. In addition, a Proportional Integral Derivative (PID) is used to control the considered drone, and optimal control gains are selected via a Particle Swarm Optimization (PSO) meta-heuristic algorithm. The simulation results for attitude change with hovering and helical trajectory tracking without changing orientations demonstrate the efficiency of the proposed design and controller. The paper concludes by discussing potential enhancements in mechanical design and control strategies. © 2023 IEEE.

关键词： Three term control systems

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Fuzzy Integral Sliding Mode control of a Hyperdynamic Golf Swing Robot 5th

Fuzzy Integral Sliding Mode Control of a Hyperdynamic Golf S...

引用

5th International Conference on Electrical Engineering and control Applications, ICEECA 2022

作者： Benmansour, Souhila Demim, Fethi Messaoui, Ali Zakaria AVCIS Laboratory University of Abou Bekr Belkaid Tlemcen Algeria Guidance and Navigation Laboratory Ecole Militaire Polytechnique Bordj El Bahri Algiers Algeria Complex Systems Control and Simulators Laboratory Ecole Militaire Polytechnique Bordj El Bahri Algiers Algeria

ISBN: (纸本)9789819700448

The sliding mode controller is one of the most challenging problems in a dynamic manipulator robot control application that completes every scheduled mission in a complicated environment. A Fuzzy Integral Sliding Mode controller (FISMC) is suggested in this article. It is used to get beyond the disturbance considerations and fix the chattering issues brought on by the standard Sliding Mode control (SMC), which affects how the system behaves. A new hybrid FISMC controller is introduced to increase the SMC's effectiveness and reliability. This controller is used in this scenario to control the reference movement of a golf swing robot with two degrees of freedom. The proposed strategy enhances the SMC's accuracy and robustness in the presence of disturbances, according to simulation results based on a FISMC control test. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Golf

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Emergency control Strategy of a Reconfigurable Quadrotor with Total Loss of One Rotor 19

Emergency Control Strategy of a Reconfigurable Quadrotor wit...

引用

19th IEEE International Multi-Conference on systems, Signals and Devices, SSD 2022

作者： Salmi, Abdenour Guiatni, Mohamed Bouzid, Yasser Derrouaoui, Saddam Hocine Boudjema, Fares Ecole Militaire Poly Technique Complex Systems Control and Simulators Laboratory Algiers Algeria Ecole Nationale Poly Technique Process Control Laboratory Algiers Algeria

ISBN: (数字)9781665471084

ISBN: (纸本)9781665471084

In this paper, an emergency control strategy is developed for a new reconfigurable quadrotor with foldable rotor arms to deal with a total loss of one of its rotors. The proposed strategy allows to adapt the configuration of the quadrotor when severe fault is occurred in one rotor. The reconfigurable quadcopter changes its shape by folding the two adjacent rotor arms to the damaged one and performs as a trirotor. Since the shape transformation induces a variation of vehicle's center of gravity which results variations of the inertia and the control matrix, an emergency sliding mode controller is designed based on control allocation matrix, where the control efforts are redistributed among healthy actuators in the resulting configuration of the quadrotor. Simulation results show that the proposed strategy is successful in controlling the damaged quadrotor until achieving its trajectory. © 2022 IEEE.

关键词： controllers

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Terminal Synergetic Theory-Based Trajectory Tracking control of Quadrotor with Rotating Arms Exposed to External Disturbances 5th

Terminal Synergetic Theory-Based Trajectory Tracking Control...

引用

5th International Conference on Electrical Engineering and control Applications, ICEECA 2022

作者： Belmouhoub, Amina Bouzid, Yasser Medjmadj, Slimane Derrouaoui, Saddam Hocine Guiatni, Mohamed Materials and Electronic Systems Laboratory University of Mohamed El Bachir El Ibrahimi Bordj Bou Arreridj Algeria Complex Systems Control and Simulators Laboratory Ecole Militaire Polytechnique Algiers Algeria Laboratory of Control University of Setif Setif Algeria ETA Laboratory Faculty of Sciences and Technology University of Bordj Bou Arreridj El Anceur Algeria Ecole Superieure Ali Chabati Algiers Algeria

ISBN: (纸本)9789819700448

A Terminal Synergetic control (TSC) is proposed in this work to solve the trajectory tracking problem of a quadrotor with rotating arms exposed to external disturbances. This control strategy is based on synergetic control and the terminal attractor technique. Moreover, besides being chattering free, it has the advantage of having a simple structure, good tracking performance, and finite time convergence. Our system, which has the particularity of changing its shape during flight, is subject to the TSC. To show the effectiveness of the adopted control strategy, numerical simulations are run, and a qualitative and quantitative comparison with the Sliding Mode controller (SMC) is made. According to the investigations, the TSC outperforms in terms of accuracy and robustness. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Sliding mode control

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