La revue : Journal of Intelligent & Robotic Systems
Domaine : Techenologie
Mots Clés : Reference model-based control Nonlinear control Robust Control IDA-PBC ADRC ESO Quadrotor
Auteur : Yasser Bouzid, Mehdi Zareb, Houria Siguerdidjane, Mohamed Guiatni
Issn : 0921-0296 Eissn : 1573-0409 vol : 100, Num : 1, pp : 597–614
Date de publication : 2020-04-13
Résume : It is relevant to develop an adequate control algorithm for quadrotors that guarantees a good compromise robustness/ performance. This compromise should be ensured with or without external disturbances. In this paper, we investigate and apply a revisited formulation of a reference model-based control strategy by introducing a boosting mechanism. This mechanism uses an Extended State-based Observer (ESO) to estimate the uncertainties and variety of disturbances. The estimation is continually updated and rejected from the main control loop. The reinforcement principle is inspired from the popular Active Disturbance Rejection Control (ADRC) technique in order to enhance the robustness ability of a nonlinear reference model-based control strategy (i.e. Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC)). The obtained controller is augmented by an additional input, which is derived via sliding modes framework to handle the estimation errors and ensure asymptotic stability. This combination leads to promising results by improving the nominal control technique. The primary results are shown through numerical simulations and are confirmed, experimentally, with several scenarios.
La revue : Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Domaine : Systems and Control Engineering
Mots Clés : Quadrotor, autonomous system, internal model control, PI controller
Auteur : Yasser Bouzid, Houria Siguerdidjane, Elmehdi Zareb
Issn : 0959-6518 Eissn : 2041-3041 vol : , Num : , pp : 1-13
Date de publication : 2020-01-27
Résume : As known, internal model control is equivalent to a PI or a PID controller provided that the mathematical model associated to the process to be controlled is of first or second order respectively. So, to go beyond these particular cases and to make an extension in bringing more theoretical results, the article proposes a method to reach the equivalence between an internal model control and a PI controller regardless of the model order. To this end, the key idea consists of using a specific filter that exhibits superior robustness level compared to the classical filter and further leads to get a structure of a PI controller whatever the order of the model is. The developed procedure constitutes the main contribution of this article. To meet given set of specifications, the controller parameters are tuned through a straightforward analytic way using the dynamics of the tracking error. The proposed tuning strategy constitutes another contribution of the article. Furthermore, to evaluate the efficiency level of this procedure, an application to control an autonomous vehicle is described and the simulation results are shown to be satisfactory confirmed by a series of experimental tests.
La revue : IFAC-PapersOnLine
Domaine : Control
Mots Clés : Reference model IDA-PBC Autonomous UAV Internal energy Tracking control
Auteur : Yasser Bouzid, Houria Siguerdidjane, M Zareb, Yasmina Bestaoui.
Issn : 2405-8963 Eissn : 24058963 vol : 52, Num : 12, pp : 158-163
Date de publication : 2019-08-27
Résume : This paper proposes a method to reach the equivalence between an IMC and a PI controller regardless of the model order. To this end, the key idea consists of using a specific IMC filter that exhibits a good level of robustness and further leads to get a structure of a PI controller whatever the order of the model is. The developed procedure constitutes the main contribution of this paper. To meet given set of specifications, the controller parameters are tuned through a straightforward analytic way using the dynamics of the tracking error. Furthermore, in order to evaluate the efficiency level of this procedure, an application to control an autonomous vehicle is described and the simulation results are shown to be satisfactory.
La revue : Iranian Journal of Science and Technology, Transactions of Electrical Engineering
Domaine : Control
Mots Clés : VTOL-UAV Fractional-order control Attitude control Modified Black–Nichols FOPID Quadrotor
Auteur : Redouane Ayad, Wahid Nouibat, Mehdi Zareb, Yasmina Bestaoui Sebanne
Issn : 2228-6179 Eissn : 2364-1827 vol : 43, Num : 1, pp : 349-360
Date de publication : 2019-07-01
Résume : This article presents a new design of fractional order ???????????? ????????
, for the full control of quadrotor (attitude and position)using a modified Black–Nichols method. First, we use single-input–single-output approach to design fractional-order ???????????? ???????? controllers for each position and attitude component. After that, we employ the same ???????????? ???????? controllers in the multiple-input–multiple-output model of quadrotor to test their performance. It is shown that we can improve the robustness and performance of the control significantly. Fractional-order modeling and control toolbox is used with Simulink model of quadrotor to prove and validate the performance of our controllers considering several scenarios.
La revue : Iranian Journal of Science and Technology, Transactions of Electrical Engineerin, Springer Link
Domaine : Control
Mots Clés : Mini-UAV Fuzzy control Autopilot Genetic algorithms
Auteur : M. Zareb, W. Nouibat, Y. Bestaoui, R. Ayad, Y. Bouzid
Issn : 2228-6179 Eissn : 2364-1827 vol : , Num : , pp : 1-29
Date de publication : 2019-06-14
Résume : This paper presents an off-line design strategy of an intelligent 3D autopilot of Micro-UAV Quadrotor. It consists of hybridization between two fuzzy controllers for the x and y motions and four PID classical controllers for the attitude/altitude motions. Genetic algorithms are used to adapt and optimize the value of the six controllers' parameters to achieve the best performance and decrease the consumed energy. Also, in order to ensure the global optimum control parameters, genetic algorithm named Bi-GA is used to automatically configure the two GAs using for the tuning process. This design strategy can be used to different types of Quadrotor (with cross or X configuration). Initially, in order to get the controller parameters, simulation tests are made on a commercial Quadrotor named AR.Drone V2. Finally, these parameters values are tested in an experiment using the robot operating system. The results of these experimentations confirm the effectiveness of using genetic algorithms in the design of intelligent PID autopilot.
La revue : Journal of Intelligent & Robotic Systems, Springer Netherlands
Domaine : Robotique
Mots Clés : Reference model IDA-PBC Autonomous UAV Internal energy Tracking control
Auteur : Yasser Bouzid, Houria Siguerdidjane, Yasmina Bestaoui, M Zareb
Issn : 0921-0296 Eissn : vol : 87, Num : 2, pp : 341-362
Date de publication : 2016-11-24
Résume : Motion control design plays a crucial role in autonomous vehicles. Mainly, these systems operate in conditions of under-actuation, which make the control a serious task especially in presence of practical constraints. The main objective within this paper is to ensure the tracking of 3D reference trajectory overcoming some of the issues related to the control of multi-rotor vehicles (such as underactuation, robustness, limited power, accuracy, overshoot, etc.). Therefore, a control scheme for Vertical Take Off and Landing (VTOL) multi-rotor Unmanned Aerial Vehicle (UAV) is designed, applying the Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) technique. As reference model based technique, the control specifications are readily met by fixing a desired dynamic model, which is a major advantage of the technique. Moreover, a port −controlled Hamiltonian representation is exploited in order to point out the physical properties of the system such as its internal energy. This latter is exploited, as a fitness function for an optimization algorithm, in order to decrease the consumed energy especially at the take-off step and allows the tuning of the controller parameters. The numerical simulations have shown satisfactory results that support the claims using a nominal system model or disturbed model. The designed controller has been implemented on a real vehicle for which one demonstrates, in an indoor area manipulation, the effectiveness of the proposed control strategy.
Communications
Lieu de communication : 21rst IFAC World Congress, Berlin, Germany
