Comparative Results on 3D Navigation of Quadrotor using two Nonlinear Model based Controllers

Yasser Bouzid (1) , Houria Siguerdidjane (2) , Yasmina Bestaoui (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 L2S - Laboratoire des signaux et systèmes

Recently the quadrotors are being increasingly employed in both military and civilian areas where a broad range of nonlinear flight control techniques are successfully implemented. With this advancement, it has become necessary to investigate the efficiency of these flight controllers by studying theirs features and compare their performance. In this paper, the control of Unmanned Aerial Vehicle (UAV) quadrotor, using two different approaches, is presented. The first controller is Nonlinear PID (NLPID) whilst the second one is Nonlinear Internal Model Control (NLIMC) that are used for the stabilization as well as for the 3D trajectory tracking. The numerical simulations have shown satisfactory results using nominal system model or disturbed model for both of them. The obtained results are analyzed with respect to several criteria for the sake of comparison.

Domaines: Automatique / Robotique

Yasser Bouzid, Houria Siguerdidjane, Yasmina Bestaoui. Comparative Results on 3D Navigation of Quadrotor using two Nonlinear Model based Controllers. 13th European Workshop on Advanced Control and Diagnosis (ACD), Nov 2016, Lille, France. (elec. proc.), ⟨10.1088/1742-6596/783/1/012046⟩. ⟨hal-01412029⟩