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dc.contributor.authorBenzaid, Karima
dc.contributor.authorMansouri, Noura
dc.contributor.authorLabbani Igbida, Ouiddad
dc.date.accessioned2019-07-07T12:19:33Z
dc.date.available2019-07-07T12:19:33Z
dc.date.issued2018-11-26
dc.identifier.urihttp://hdl.handle.net/123456789/136589
dc.description.abstractThis work addresses the study of the control of autonomous Vertical Take-Off and Landing (VTOL) aircrafts. We focus on multi-rotor Unmanned Aerial Vehicles (UAVs). We first study the dynamic modeling of this class of UAVs. Using the Euler-Newton formalism, the differential equations are derived as a generalized model to describe the behavior of a multi-rotor UAV with an even number N of rotors. In a second step, we analyze the control approaches used in the literature for multi-rotors stabilization and path / trajectory tracking. Based on the dynamic model developed, we propose a hierarchical structure for the vehicle control. The proposed control approach consists of combining the Proportional, Integral, Derivative (PID) algorithm with the integral Back-stepping algorithm. We also discuss the effect of a complete rotor fault on the behavior of the vehicle. The guidance of UAVs is another element addressed in this work. We present a study of the different algorithms applied for the planning of 3D paths. We then present our contribution in the path planning for UAVs. It is a method of path planning, minimizing the path length and maximizing the distance to obstacles, based on the skeletonization of the 3D environment while taking into account the size of the vehicle. The proposed method has been tested and proves capable of producing optimal solutions in terms of safety and path length.fr_FR
dc.language.isofrfr_FR
dc.publisherجامعة الإخوة منتوري قسنطينةfr_FR
dc.subjectdronefr_FR
dc.subjectmodélisationfr_FR
dc.subjectguidagefr_FR
dc.subjectcontrôlefr_FR
dc.subjectsquelettisationfr_FR
dc.subjectPIDfr_FR
dc.subjectBack-steppingfr_FR
dc.subjectUAVfr_FR
dc.subjectmodelingfr_FR
dc.subjectguidancefr_FR
dc.subjectcontrolfr_FR
dc.subjectskeletonizationfr_FR
dc.subjectطائرة بدون طيارfr_FR
dc.subjectنمذجةfr_FR
dc.subjectتوجيهfr_FR
dc.subjectتحكمfr_FR
dc.subjectهيكلة عظيمةfr_FR
dc.titleStratégies de commande de véhicules à déplacement vertical.fr_FR
dc.typeThesisfr_FR


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