Browsing by Author "Guiatni, Mohamed"

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    Passive fault tolerant control of a new reconfigurable quadrotor
    (University of Eloued جامعة الوادي, 2022-01-24) Salmi, Abdenour; Bouzid, Yasser; Guiatni, Mohamed
    The purpose of this paper is to improve the control performance of a new reconfigurable quadrotor subject to change of configuration and under actuator Loss of Effectiveness (LOE) using Integral Sliding Mode Controller (ISMC). First, we present the design of the UAV which is capable of folding its arms instantaneously during the flight which result variation in its different parameters such as Center of Gravity (CoG), inertia and control matrix. Then, the ISMC controller based Passive Fault Tolerant Control (PFTC) is designed to control and stabilize the position and the attitude of the UAV in some possible configurations and under actuator fault conditions. The four servomotors used to rotate the quadrotor arms are controlled by PID controller. Finlay, we present simulation results using Matlab/Simulink environment which demonstrate the effectiveness and the robustness of the ISMC-PFTC controller compared to the regular SMC one.
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    Trajectory Tracking of a Reconfigurable Multirotor Using Optimal Robust Sliding Mode Controller
    (University of Eloued جامعة الوادي, 2022-01-24) Derrouaoui, Saddam Hocine; Bouzid, Yasser; Guiatni, Mohamed; Belmouhoub, Amina
    This work aims to design a robust Sliding Mode Controller (SMC) in order to stabilize and follow the desired trajectory of a new reconfigurable multirotor. Due to changeable shape of the studied drone, the designed SMC in this work consists to ensure the robustness in the face of the parameters interaction, and various uncertainties of the system. In order to select the controller optimal parameters of each flight configuration, a Metaheuristic Algorithm based on Particle Swarm Optimization (PSO) is used. Nevertheless, the control architecture of this multirotor is different to the standard one, which makes it a very difficult task. To evaluate the effectiveness of the SMC, a simulation scenario is carried out, where the multirotor geometry is variable depending on the assigned tasks and environment.