1 research outputs found
Modeling and Robust Control of Flying Robots Using Intelligent Approaches Modélisation et commande robuste des robots volants en utilisant des approches intelligentes
This thesis aims to modeling and robust controlling of a flying robot of quadrotor type. Where
we focused in this thesis on quadrotor unmanned Aerial Vehicle (QUAV). Intelligent
nonlinear controllers and intelligent fractional-order nonlinear controllers are designed to
control. The QUAV system is considered as MIMO large-scale system that can be divided on
six interconnected single-input–single-output (SISO) subsystems, which define one DOF, i.e.,
three-angle subsystems with three position subsystems. In addition, nonlinear models is
considered and assumed to suffer from the incidence of parameter uncertainty. Every
parameters such as mass, inertia of the system are assumed completely unknown and change
over time without prior information. Next, basing on nonlinear, Fractional-Order nonlinear
and the intelligent adaptive approximate techniques a control law is established for all
subsystems. The stability is performed by Lyapunov method and getting the desired output
with respect to the desired input. The modeling and control is done using
MATLAB/Simulink. At the end, the simulation tests are performed to that, the designed
controller is able to maintain best performance of the QUAV even in the presence of unknown
dynamics, parametric uncertainties and external disturbance