Ndzana Jean Calvin, Yeremou Tamtsia Aurelien, Mane Mane Jeannot, Assiene Mouodo Luc Vivien, Nkotto Akono Cyrille
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Contribution to the Control and Command of a Quadrirotor with Six Degrees of Freedom in an Urban Environment
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, it is a quadrotor which is a nonlinear, strongly
coupled and unstable system. Such a structure is difficult to master, 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 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, these results prove the
robustness of the Backstepping command.