The quadrotor is a flying robot. It belongs to the Multirotors family. The quadrotor has several characteristics (mechanical structure of reduced size, reduced weight, agility, vertical takeoff and landing), which gives several advantages over other types of flying robots. However, despite all the advantages, the quadrotor has a dynamic model that is strongly non linear and fully coupled, hence the requirement of a robust and stable control. This thesis is about modeling and controlling flying robots, specifically a quadrotor.
The main objective in this thesis is designing a saturation control for controlling the position of a flying robot of quadrotor type. In order to do this, a dynamic model of the quadrotor based on Euler Lagrange was performed. Then, the design of a control-based approach, a saturation control to the position control and adaptive backstepping control for controlling the orientation was performed using the dynamic model. Its stability was validated using both the Lyapunov theorem and Barbalat lemma.
The proposed control approach has been validated through simulation using the dynamic model on two different flight scenarios, then by adding a white noise in the data sensor locations.
| Date | 10 Feb 2016 |
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| Original language | French |
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| Awarding Institution | - École de technologie supérieure
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| Supervisor | Maarouf Saad (Supervisor) |
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Boudguiga, O. (Author),
Saad (Supervisor),
10 Feb 2016Student thesis: Master's thesis › Master in Engineering: Mechanical Engineering