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检索条件"机构=Complex Systems Control and Simulators Laboratory"

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Observer Based controller for a Foldable Quadrotor

Observer Based Controller for a Foldable Quadrotor

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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

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.

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

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Dynamic Modeling of a Transformable Quadrotor

Dynamic Modeling of a Transformable Quadrotor

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： S. H. DERROUAOUI M. GUIATNI Y. BOUZID I. DIB N. MOUDJARI Complex Systems Control & Simulators Laboratory Ecole Militaire Polytechnique Algiers Algeria

ISBN: (数字)9781728142784

ISBN: (纸本)9781728142791

This paper proposes a new design of the well-known quadrotor UAV. This design is based on a variable morphology that can be modified instantaneously during the flight, according to the tasks and the followed trajectory. It is able to change the rotation and the extension of its arms independently. This quadrotor, exploits simple mechanisms i.e. extendable arms and rotating arms. The modeling of this category of quadrotors is not obvious compared to the conventional ones because of its asymmetry. So, a detailed generic model that takes into account the variation of the center of gravity and the inertia is presented. The first prototype platform with rotating arms and some possible configurations will be shown.

关键词： Rotors Gravity Servomotors Prototypes Task analysis Propellers Aerodynamics

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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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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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Autonomous Underwater Vehicle Localization and Map Building Based SVSF Using Smoothing Boundary Layer Width 5th

Autonomous Underwater Vehicle Localization and Map Building...

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

作者： Demim, Fethi Bouzerzour, Hamza Rouigueb, Abdenebi Benghezal, Amar Allam, Ahmed Nemra, Abdelkrim Gauiatni, Mohamed Kobzili, Elhaouari Bazoula, Abdelouahab Guidance and Navigation Laboratory Ecole Militaire Polytechnique EMP Bordj El Bahri Algiers Algeria Complex Systems Control and Simulators Laboratory Ecole Militaire Polytechnique EMP Bordj El Bahri Algiers Algeria Optimization Techniques Laboratory Ecole Militaire Polytechnique EMP Bordj El Bahri Algiers Algeria

ISBN: (纸本)9789819700448

Localization technology is one of the most crucial issues for underwater vehicle applications that must accomplish any scheduled task in the challenging aquatic environment. Simultaneous Localization and Mapping (SLAM) with an Autonomous Underwater Vehicle (AUV) is currently a hot topic in the study. UAVs have only recently achieved greater recognition, and underwater platforms are still being studied. An approach has been established to ensure the success of an accurate localization mission by overcoming the problem of drifting from an AUV’s planned trajectory. A new adaptive technique based on two merged filters, Smooth Variable Structure Filter (SVSF) and Extended Kalman Filter (EKF), is presented to increase the accuracy of AUV localization. The accuracy, stability, and reduction in terms of Root Mean Square Error (RMSE) of the localization position of the AUV have been tested in natural conditions using the results of several experiments. These experimental data are used in the SLAM algorithm, which shows the best result and performance using the proposed approach compared to other algorithms. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Extended Kalman filters

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Toward a New Multirotor Design With Spatial Configuration and Tilted Rotors

Toward a New Multirotor Design With Spatial Configuration an...

引用

2023 International Conference on Advances in Electronics, control and Communication systems, ICAECCS 2023

作者： Ghazali, Mohamed Bouzid, Yasser Belhocine, Mahmoud Derrouaoui, Saddam Hocine Ecole Militaire Polytechnique Bordj El Bahri Complex Systems Control and Simulators Laboratory Algiers Algeria Centre de Développement des Technologies Avancées Cdta Baba Hassen Algiers Algeria Ecole Supérieure Ali Chabati Algiers Algeria

ISBN: (纸本)9781665463102

In recent years, aerial interaction tasks increasingly use UAVs, and because of their intrinsic under-actuation, they are consequently limited in their motion. Therefor, there are three classes of systems to overcome the under-actuation problem such as, the non-flat multirotors, drone with tilted rotors and reconfigurable systems. This paper proposes generic modeling of a multirotor with a non-flat configuration. This model is derived by considering all physical and mechanical constraints. As a result, the body-fixed frame can be placed at any point in the vehicle and the rotors instead with varying tilt angles and arm lengths in any position in space. These specifications give a nonsymmetrical and spatial configuration to the multirotor with fully row rank control allocation matrix. A numerical simulation result was provided to show the effectiveness of our model. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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A linear Active Disturbance Rejection control based PSO to control Twin Rotor MIMO System with experimental validation

A linear Active Disturbance Rejection Control based PSO to c...

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Electrical Engineering and Advanced Technology (ICEEAT), International Conference on

作者： Kamel Kadri Farès Boudjema Yasser Bouzid Badis Ouahab Hassane Islam Draris Complex Systems Control and Simulators (CSCS) Laboratory Ecole Militaire Polytechnique Algeria Ecole supérieure Ali Chabati Algiers Algeria

This study presents a strategy known as Linear Active Disturbance Rejection control (LADRC) as a means to mitigate the effects of unidentified interior and/or external perturbations on nonlinear systems. In our approach, we have chosen to utilize a Twin Rotor Multi-Input Multi-Output (TRMS) helicopter simulator. The utilization of the Particle Swarm Optimization (PSO) method was employed in the synthesis of coefficients for the Linear Active Disturbance Rejection control (LADRC) approach. The findings indicate that the TRMS nonlinear system exhibits effective disturbance rejection capabilities, as demonstrated in both simulated and real-world scenarios. The outcomes of a Proportional-Integral-Derivative (PID) control system that has been enhanced using Particle Swarm Optimization (PSO) are also contrasted with those generated using the suggested methodology.

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Enhancing Echo Processing Through the Integration of Support Vector Machine and Weber’s Law Descriptors 19

Enhancing Echo Processing Through the Integration of Support...

引用

19th International Conference on Software Technologies, ICSOFT 2024

作者： Hedir, Mehdia Demim, Fethi Messaoui, Ali Zakaria Messaoui, Aimen Abdelhak Belaidi, Hadjira Rouigueb, Abdenebi Nemra, Abdelkrim Algeria Laboratory of Guidance and Navigation Ecole Militaire Polytechnique Bordj El Bahri Algiers Algeria Laboratory of Complex Systems Control and Simulators Ecole Militaire Polytechnique Bordj El Bahri Algiers Algeria Signals and Systems Laboratory Institute of Electrical and Electronic Engineering University M’Hamed Bougara of Boumerdes Algeria Laboratory of Artificial Intelligence and Virtual Reality Ecole Militaire Polytechnique Bordj El Bahri Algiers Algeria

ISBN: (纸本)9789897587061

Removing ground echoes from weather radar images is a topic of great importance due to their significant impact on the accuracy of processed data. To address this challenge, we aim to develop methods that effectively eliminate ground echoes while preserving the precipitation, which is a crucial meteorological parameter. To accomplish this, we propose to test Local Descriptors based on Weber’s law (WLD), as well as descriptors that combine Weber’s law with Local Binary Pattern (WLBP), using Support Vector Machine (SVM) classifiers to automate the recognition of both types of echoes. The proposed methods are rigorously tested at the sites of Setif and Bordeaux to evaluate their effectiveness in accurately identifying the ground echoes and precipitation. The results of our experiments demonstrate that the proposed techniques are highly effective in eliminating ground echoes while preserving the precipitation, and can be considered satisfactory for practical applications in meteorological data processing. © 2024 by SCITEPRESS – Science and Technology Publications, Lda.

关键词： Support vector machines

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Optimal Target Interception using Foldable Quadrotor with Rotating Arms

Optimal Target Interception using Foldable Quadrotor with Ro...

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International Conference on Image and Signal Processing and their Applications (ISPA)

作者： Zakaria Mehal Yasser Bouzid Mohammed Guiatni Saddam Hocine Derrouaoui Complex Systems Control and Simulators (CSCS) Laboratory Ecole Militaire Polytechnique Bordj el Bahri Algeria Ecole Superieure Ali Chabati Algires Algeria

ISBN: (数字)9798350309249

ISBN: (纸本)9798350309256

This article addresses a critical problem in the field of target interception using a new foldable quadrotor with rotating arms. The primary challenge is maximizing linear acceleration to enhance the quadrotor’s ability to intercept targets effectively. To address this challenge, we introduce a novel optimization framework. Our study employs two distinct optimization algorithms, namely the genetic algorithms and the whales optimization algorithm, to ascertain the maximum attainable linear acceleration for the foldable quadrotor. The results obtained are confirmed through the use of our innovative foldable quadrotor.

关键词： Heuristic algorithms Signal processing algorithms Life estimation Signal processing Whale optimization algorithms Optimization Robots

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Active Disturbance Rejection control of Unconventional Quadrotor based on Grey Wolf Optimization Algorithm

Active Disturbance Rejection Control of Unconventional Quadr...

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Advances in Electronics, control and Communication systems (ICAECCS), International Conference on

作者： Kamel Kadri Farès Boudjema Yasser Bouzid Mohamed Ghazali Hichem Sahouli Complex Systems Control and Simulators (CSCS) Laboratory Ecole Militaire Polytechnique Bordj el Bahri Algeria Ecole supérieure Ali Chabati Algiers Algeria

The dynamics of transformable unmanned aerial systems are complex since it includes some non-linearities and control uncertainty. Furthermore, there are subjected to unknown and unmeasurable internal and/or external disturbances caused by structural transformation (rotating arms). These complex dynamics require an advanced disturbance rejection technique to manage the disturbances. In this work, we suggest using the Active Disturbance Rejection control (ADRC) method as a substitute solution to address the issue of unknown internal and external disturbances in nonlinear systems. We have opted in our application for the reconfigurable quadrotor nonlinear system as a Transformable Unmanned Aerial System, and all of the ADRC coefficients have been synthesized using the Grey Wolf algorithm (GWO). Simulation results obtained from our chosen system are given to show good performance in terms of disturbance rejection.

关键词： Robust control Uncertainty Simulation Autonomous aerial vehicles control systems Stability analysis Robustness

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