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Contribution à la génération de trajectoires optimales pour les systèmes differentiellement plats application au cas d’un Quadri-rotor

Abstract : In this thesis, we are interested in the autonomous navigation of robotic systems, particularly quadrotor UAV systems. We have focused on the problems related to the generation of optimal trajectories and the design of robust control to ensure tracking.In the first part of the thesis, a new method for generating trajectories is proposed. This method is based on the direct-collocation technique, differential flatness and Bézier curves.Differential flatness is used to reduce the number of parameters of the optimization problem.Bézier curves are used to approximate the flat outputs. The direct-collocation method transforms the problem of infinite optimization into a problem of nonlinear programming with finite dimension. The suggested methodology allows solving complex problems of calculating optimal trajectories in a fast, simple and efficient way, because the number of parameters will be considerably decreased, exceeding a reduction rate of 60 %.In the second part of the thesis, we put forward robust control to parametric uncertainties and external disturbances. Using flatness, the nonlinear system is transformed into a linear Brunovsky canonical form, for which it is easier to create a state feedback controller. To consider the parametric uncertainties and the external disturbances affecting the system, we propose an algorithm which uses the sliding mode and active disturbance rejection control.The simulation results show that the considered approach permits eliminating the effect oftotal disturbances and reducing the effect of chattering while ensuring the required degree of robustness.For unknown disturbances with significant variations affecting both the system and the measurements,we are interested in the last part of the thesis in developing new flatness control based on an interval observer.
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Submitted on : Monday, May 3, 2021 - 9:54:14 AM
Last modification on : Tuesday, May 4, 2021 - 3:23:12 AM
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  • HAL Id : tel-03214986, version 1


Amine Abadi. Contribution à la génération de trajectoires optimales pour les systèmes differentiellement plats application au cas d’un Quadri-rotor. Robotique [cs.RO]. Université d'Orléans; Ecole Nationale d'Ingénieurs de Sousse (Tunisie), 2020. Français. ⟨NNT : 2020ORLE3070⟩. ⟨tel-03214986⟩



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