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Design, Modeling and Control of a Dronehttps://www.univ-soukahras.dz/en/publication/article/4440 |
| Hamza DJIZI (2023) Design, Modeling and Control of a Drone. univ of souk ahras |
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Abstract
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ABSTRACT
This thesis studies cutting-edge quadrotor technologies, focusing on simulating diverse behaviors and leveraging various controllers. With a primary goal of boosting stability and performance, the study integrates advanced control strategies: Proportional-Derivative (PD), Proportional-Integral-Derivative (PID), Linear Quadratic Regulator (LQR), and a hybrid LQR-PD controller. This research also involves a comprehensive comparative assessment of their effectiveness in enhancing quadrotor stability, analyzing key performance metrics like settling time, rise time, and overshoot across different scenarios to unveil subtle differentiators among these controllers. Furthermore, a quadrotor\\\\\\\'s architecture is designed based on Unified Robot Description Format (URDF) and Simulation Description Format(SDF) within GAZEBO11 to be controlled using the Robot Operating System 2 (ROS2). This project includes the construction of a new world that mimics the real world where the quadrotor is able to explore, identify, map, and locate the outside world and objects thanks to the employment of many sensors, including cameras, GPS, IMU, and LIDAR. The quadrotor\\\\\\\'s system control is built to provide control using PyQt6 as the base server, enabling connection to a smartphone or other device, and computer vision methods are employed for simple operation. This research aims to make a significant contribution to the field of quadrotor control and design by providing new insights into advanced technologies that can enhance the quadrotor\\\\\\\'s performance.
Keywords: Quadrotor multibody system, Proportional-integral-derivative (PID) Controller, Linear quadratic Regulator (LQR), Robot Operating system 2, Computer vision, Navigation,Server-Client, real-time control.
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Information
| Item Type: | Thesis |
|---|---|
| Divisions: |
» Laboratory of Research on Electromechanical and Dependability » Faculty of Science and Technology |
| ePrint ID: | 4440 |
| Date Deposited: | 2023-09-26 |
| Further Information: | Google Scholar |
| URI: | https://www.univ-soukahras.dz/en/publication/article/4440 |
BibTex
@phdthesis{uniusa4440,
title={Design, Modeling and Control of a Drone},
author={Hamza DJIZI},
year={2023},
school={univ of souk ahras}
}
title={Design, Modeling and Control of a Drone},
author={Hamza DJIZI},
year={2023},
school={univ of souk ahras}
}
