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Recham Zine Eddine
University M’hamed Bougara of Boumerdes
Electrical & Electronics Engineering

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Journal : Bulletin of Electrical Engineering and Informatics

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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.
Co-Authors Ali Saibi Amrouche Hafid Hadjira Belaidi Razika Boushaki