Browsing by Author "Boubakir, Ahsene"

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    A robust adaptive PID-like controller for quadrotor unmanned aerial vehicle systems
    (MDPI, 2024-11-27) Boubakir, Ahsene; Souanef, Toufik; Labiod, Salim; Whidborne, James F.
    This paper introduces a stable adaptive PID-like control scheme for quadrotor Unmanned Aerial Vehicle (UAV) systems. The PID-like controller is designed to closely estimate an ideal controller to meet specific control objectives, with its gains being dynamically adjusted through a stable adaptation process. The adaptation process aims to reduce the discrepancy between the ideal controller and the PID-like controller in use. This method is considered model-free, as it does not require knowledge of the system’s mathematical model. The stability analysis performed using a Lyapunov method demonstrates that every signal in the closed-loop system is Uniformly Ultimately Bounded (UUB). The effectiveness of the proposed PID-like controller is validated through simulations on a quadrotor for path following, ensuring accurate monitoring of the target positions and yaw angle. Simulation results highlight the performance of this control scheme.
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    ℒ1 adaptive control of quadrotor UAVs in case of inversion of the torque direction
    (SCIE Publish, 2023-10-10) Souanef, Toufik; Whidborne, James F.; Boubakir, Ahsene
    This paper presents a method for fault tolerant control of quadrotor UAVs in case of inversion of the torque direction, a situation that might occur due to structural, hardware or software issues. The proposed design is based on multiple-model ℒ1 adaptive control. The controller is composed of a nominal reference model and a set of degraded reference models. The nominal model is that with desired dynamics that are optimal regarding some specific criteria. In a degraded model, the performance criteria are reduced. It is designed to ensure system robustness in the presence of critical failures. The controller is tested in simulations and it is shown that the multiple model ℒ1 adaptive controller stabilizes the system in case of inversion of the control input, while the ℒ1 adaptive controller with a single nominal model fails.