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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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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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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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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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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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Boosted Backstepping control by Disturbance Observer for Reconfigurable Quadrotor 2

Boosted Backstepping Control by Disturbance Observer for Rec...

引用

2nd International Conference on Advanced Electrical Engineering, ICAEE 2022

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

ISBN: (数字)9781665417419

ISBN: (纸本)9781665417419

The main objective of this paper is to control and ensure good trajectory tracking of a reconfigurable quadrotor exposed to external perturbations. This control law is integrated with the disturbance observer and based on the finite-time Lyapunov stability theory. First, a dynamic model of the studied system is developed. The latter takes into consideration the variation of the Center of Gravity (CoG), the inertia, and the allocation matrix. Then, the theoretical basis of backstepping control integrated with disturbance observer is presented. The observer estimates the perturbations online and compensates them in the internal loop that contains the attitude and the position backstepping controllers. Finally, simulation results are provided to illustrate the performance of this controller. Overall, the findings show that the proposed control technique outperforms in terms of accuracy and robustness. © 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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Energy Based Modeling and Power Consumption of Unconventional Quadrotor 48

Energy Based Modeling and Power Consumption of Unconventiona...

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Belmouhoub, Amina Bouzid, Yasser Medjmadj, Slimane Derrouaoui, Saddam Hocine University of Mohamed El Bachir El Ibrahimi Materials and Electronic Systems Laboratory Bordj Bou Arreridj Algeria Ecole Militaire Polytechnique Control of Complex Systems & Simulators Laboratory Algiers Algeria University of Setif University of Bordj Bou Arreridj Laboratory of Control Algeria

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

This paper deals with energy modeling and power consumption of new unconventional quadrotors according to the rotation angle of the arms, the angular velocity of rotors, and the path curvature changes. Thus, the main dynamic behaviors of the system influence the power consumption. For that, it is important to first understand its behavior, its environment, and its dynamics through dynamic modeling. Then, the implementation of control laws is necessary to ensure stability and good trajectory tracking. For that, an adaptive controller-based backstepping method is designed and applied to our system. The mathematical model of power consumption is formulated and the energy consumption is calculated. Finally, a comparison between different scenarios has been validated through simulation for different configuration and curvature values. © 2022 IEEE.

关键词： Electric power utilization

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Advanced Backstepping control: Application on a Foldable Quadrotor 19

Advanced Backstepping Control: Application on a Foldable Qua...

引用

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

作者： Belmouhoub, Amina Bouzid, Yasser Medjmadj, Slimane Derrouaoui, Saddam Hocine Guiatni, Mohamed University of Mohamed El Bachir El Ibrahimi Bordj Bou Arréridj Materials and Electronic Systems Laboratory Algeria Ecole Militaire Polytechnique Complex Systems Control & Simulators Laboratory Algiers Algeria University of Setif University of Bordj Bou Arreridj Laboratory of Control Algeria

ISBN: (数字)9781665471084

ISBN: (纸本)9781665471084

This paper deals with the implementation of robust control, based on the finite time Lyapunov stability theory, to solve the trajectory tracking problem of an unconventional quadrotor with rotating arms (also known as foldable drone). First, the model of this Unmanned Aerial Vehicle (UAV) taking into consideration the variation of the inertia, the Center of Gravity (CoG) and the control matrix is presented. The theoretical foundations of backstepping control enhanced by a Super-Twisting (ST) algorithm are then discussed. Numerical simulations are performed to demonstrate the effectiveness of the proposed control strategy. Finally, a qualitative and quantitative comparative study is made between the proposed controller and the classical backstepping controller. Overall, the results obtained show that the proposed control approach provides better performance in terms of accuracy and resilience. © 2022 IEEE.

关键词： Drones

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