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All Journal Bulletin of Electrical Engineering and Informatics Indonesian Journal of Electrical Engineering and Computer Science
Hadjira Belaidi
University M’hamed Bougara of Boumerdes
Electrical & Electronics Engineering

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Enhanced backstepping control for disturbances rejection in quadrotors Ali Saibi; Hadjira Belaidi; Razika Boushaki; Recham Zine Eddine; Amrouche Hafid
Bulletin of Electrical Engineering and Informatics Vol 11, No 6: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v11i6.3997

Abstract

This work studies the issue of quadrotor trajectory tracking control in presence of disturbances and model uncertainties. The paper starts by extracting the kinematics and dynamics models of the quadrotor. This results in the motion equations, which eventually serve as a blueprint for creating the suggested smart flight control scheme. Secondly, an enhanced backstepping controller (BSC) is developed and tested to keep the quadrotor tracking the desired trajectory both in steady state and in presence of disturbances. Finally, BSC beside two other controllers: sliding mode controller (SMC) and proportional derivative controller (PDC) are implemented in MATLAB/Simulink and the obtained results are compared and conclusions are extracted. Therefore, it is established that PDC is not robust to disturbances as noise will be amplified due to the derivative term. Whereas, although SMC is robust to parameter variations and disturbances; however, it is not continuous which may affect the actuators due to the increased gains which may saturate them. In contrast, BSC requires too many tuning parameters; however, it ensures Lyapunov Stability and does not depend on the system as it does not involve cancelling system nonlinearity. Moreover, BSC results are 1017 better than the results of the two other controllers.
Multi-microgrids system’s resilience enhancement Samira Chalah; Hadjira Belaidi
Indonesian Journal of Electrical Engineering and Computer Science Vol 34, No 3: June 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v34.i3.pp1399-1409

Abstract

Nowadays, electricity consumption is increasing rapidly which leads to conventional power systems exhaustion. Therefore, micro-grids (MGs) implantation can enhance the resilience of power systems by implication of new resources, such as renewable energy sources (solar panel and wind power systems), electric vehicles (EV), and energy storage systems (ESS). This paper proposes a new strategy for optimal power consumption inside one microgrid; then, the approach will be extended to optimize the power consumption to enhance the resilience in the case of multi-MGs systems. The system controller of each microgrid has been implemented using ESP32 microcontroller and Raspberry IP4. The proposed approach intends to enhance the resilience of the system to react to any contingency in the system such as loss of power linkage between MG and the network in case of any natural disaster, especially in the rural area. Two controllers are implemented; the first one ensures MG autonomy by the efficient use of its own sources. The second one handles the system resilience cases by demanding/delivering power from/into neighbor microgrids. Hence, this work enhances the system resilience with an optimal cost. Thus, the MG can offer ancillary services for the neighboring MGs.
Co-Authors Ali Saibi Amrouche Hafid Razika Boushaki Recham Zine Eddine Samira Chalah