The quadrotor is among the most popular multi-rotors UAVs in the field of research, because of its simple structure, low cost and ability to perform stationary flight, and to land and take off vertically. However, despite the lower complexity of this engine, the control of such system requires a special attention, since this system is strongly nonlinear, multi-variable coupled and under actuated. This thesis proposes a nonlinear controller to be able to stabilize the navigation of the quadrotor.
One of scenarios that could be achieved by the quadrotor is autonomous navigation. Indeed implementing such mission requires the measurement of the vehicle states. However some of these states can’t be accessible, and the sensor measurements are often affected by external noise. This work is concentrated on this problem by the synthesis of a control law that does not require measurement of the linear velocity of the quadrotor. To do this, modeling was performed according to the Newton-Euler formulation. Later the synthesis of hierarchical controller was performed on this model, such as the position controller implies a non-linear filter for estimating the linear velocity, and a backstepping attitude controller designed with the barrier Lyapunov functions, the selection of the parameters of this regulator is based on the stability analysis when it is possible.
The validation of the proposed controller was performed by simulation on several maneuvers, after an analysis was done on the simple hierarchical controller and with integral in order to test its robustness against external disturbances.
| Date | 24 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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Jmili, Y. (Author),
Saad (Supervisor),
24 Feb 2016Student thesis: Master's thesis › Master in Engineering: Mechanical Engineering