摘要
The objective of this article is to make a contribution relating to the modeling, control, simulation and stabilization of a complex system, with six degrees of freedom of a particular drone which presents many advantages and challenges. On the technological, military, political and other levels with an enormous and beneficial social contribution</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">it is a quadrotor which is a nonlinear, strongly coupled and unstable system. Such a structure is difficult to master</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">because the control is multivariable in the sense that six degrees of freedom are to be controlled simultaneously and operating in an environment subject to disturbances. Two commands, in particular Backstepping and </span><span style="font-family:Verdana;"></span><span style="font-family:Verdana;">PID, will be applied to obtain the stabilization of the quadcopter at the desired values, in attitude and in altitude. This article presents the comparative results of the performance of the quadcopter under the two controls. The effect of the parameters of each command on the response time of the system is elucidated under the Matlab/Simulink environment. For a simulation time of up to 10 seconds minimum with a less good response time of almost 2 seconds for the PID control</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">these results prove the robustness of the Backstepping command.
The objective of this article is to make a contribution relating to the modeling, control, simulation and stabilization of a complex system, with six degrees of freedom of a particular drone which presents many advantages and challenges. On the technological, military, political and other levels with an enormous and beneficial social contribution</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">it is a quadrotor which is a nonlinear, strongly coupled and unstable system. Such a structure is difficult to master</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">because the control is multivariable in the sense that six degrees of freedom are to be controlled simultaneously and operating in an environment subject to disturbances. Two commands, in particular Backstepping and </span><span style="font-family:Verdana;"></span><span style="font-family:Verdana;">PID, will be applied to obtain the stabilization of the quadcopter at the desired values, in attitude and in altitude. This article presents the comparative results of the performance of the quadcopter under the two controls. The effect of the parameters of each command on the response time of the system is elucidated under the Matlab/Simulink environment. For a simulation time of up to 10 seconds minimum with a less good response time of almost 2 seconds for the PID control</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">these results prove the robustness of the Backstepping command.
作者
Ndzana Jean Calvin
Yeremou Aurelien
Mane Mane Jeannot
Assiene Mouodo Luc Vivien
Nkotto Akono Cyrille
Ndzana Jean Calvin;Yeremou Aurelien;Mane Mane Jeannot;Assiene Mouodo Luc Vivien;Nkotto Akono Cyrille(Higher Normal School of Technical Education, University of Douala, Douala, Cameroon;Doctoral Training Unit in Engineering Sciences, Computer and Automation Engineering Laboratory, Doctoral School of and Applied Sciences, University of Douala, Douala, Cameroon;Materials and Methods Modeling Laboratory of the National Higher Polytechnic School, University of Douala, Douala, Cameroon)
