Papers by Mostafa MOUSSID
International journal of advanced research, Feb 28, 2017
modeling, localization, Mission planning & high level Expert system, and action processes to achi... more modeling, localization, Mission planning & high level Expert system, and action processes to achieve or maintain its goals. The reactive part will guarantee that simple tasks are achieved under time constraints (real-time) while deliberative part will grant planning and reasoning. The whole architecture assures the safety of the UAV and the environment, so it provides the mechanisms to deal and reduces the impact with hardware and software failures of onboard.
A hexacopter aircraft is a class of helicopter, more specifically of multirotors. The hexacopter ... more A hexacopter aircraft is a class of helicopter, more specifically of multirotors. The hexacopter has several characteristics (mechanically simple, vertical takeoff and landing, hovering capacities, agile) that give it several operational advantages over other types of aircraft. But its beneficts come at a cost: the hexacopter has a highly nonlinear dynamics, coupled and underactuated which makes it impossible to operate without a feedback controller action. In this work we present a detailed mathematical model for a Vertical Takeoff and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the hexarotor. The nonlinear dynamic model of the hexarotor is formulated using the Newton-Euler method, the formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in many literature. Three controls schemes, namely Proportional-Derivative-Integral (PID) controller, backstepping and sliding mode (SMC), have been applied to control the altitude, attitude,...
This paper is about modelling and control of Vertical Takeoff and Landing (VTOL) type Unmanned Ae... more This paper is about modelling and control of Vertical Takeoff and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) specifically, micro hexarotor. The nonlinear dynamic model of the hexarotor is formulated using the Newton-Euler method, the formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in many literature. Based on the mathematical model, several algorithms have been analyzed, varying between the classical linear Proportional-Integral-Derivative (PID) controllers to more complex nonlinear schemes as backstepping or sliding-mode controllers. Simulation based experiments were conducted to evaluate and compare the performance of the proposed control techniques in terms of dynamic performance, stability and the effect of possible disturbances. Finally, integral backstepping is augmented with FST (Frenet-Serret Theory) action and proposed as a tool to design attitude, altitude and position controllers. The conclusion of this work is a propo...
International Journal of Applied Information Systems, 2015
A hexacopter aircraft is a class of helicopter, more specifically of multirotors. The hexacopter ... more A hexacopter aircraft is a class of helicopter, more specifically of multirotors. The hexacopter has several characteristics (mechanically simple, vertical takeoff and landing, hovering capacities, agile) that give it several operational advantages over other types of aircraft. But its beneficts come at a cost: the hexacopter has a highly nonlinear dynamics, coupled and underactuated which makes it impossible to operate without a feedback controller action. In this work we present a detailed mathematical model for a Vertical Takeoff and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the hexarotor. The nonlinear dynamic model of the hexarotor is formulated using the Newton-Euler method, the formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in many literature. Three controls schemes, namely Proportional-Derivative-Integral (PID) controller, backstepping and sliding mode (SMC), have been applied to control the altitude, attitude, heading and position of the hexacopter in space. Simulation based experiments were conducted to evaluate and compare the performance of three developed control techniques in terms of dynamic performance, stability and the effect of possible disturbances. This article focuses on modeling strategy and command of a kind hexarotor type unmanned aerial vehicle (UAV). These developments are part of the overall project initiated by the team (EAS) of the Computer Laboratory, systems and renewable energy (LISER) of the National School of Electrical and Mechanical (ENSEM).
1,2 Doctoral student in computer engineering, the National Higher School of electricity and mecha... more 1,2 Doctoral student in computer engineering, the National Higher School of electricity and mechanics (ENSEM), Morocco 3Dr. Professor, Royal Navy School (ERN) of Morocco, Casablanca, Morocco 4Professor, the National Higher School of electricity and mechanics (ENSEM), Morocco 5Dr. Professor and Director, the National Higher School of electricity and mechanics (ENSEM), Morocco ---------------------------------------------------------------------***--------------------------------------------------------------------Abstract The use of Unmanned Aerial Vehicles (UAVs) which can operate autonomously in dynamic and complex operational environments is becoming increasingly more common. During the last decade many research papers have been published on the topic of architecture, dynamic modeling and control strategies of autonomous multi rotors. This article highlights the primary differences between three multi rotor platforms: quad rotor, hexa rotor and octo rotor, a discussion is presente...
1Doctoral Student in Computer Engineering, the National Higher School of Electricity and Mechanic... more 1Doctoral Student in Computer Engineering, the National Higher School of Electricity and Mechanics, Morocco 2Doctoral Student in computer Engineering, the National Higher School of Electricity and Mechanics, Morocco 3Doctoral Student in computer Engineering, the National Higher School of Electricity and Mechanics, Morocco 4Dr. Professor, Royal Navy School (ERN) Casablanca, Morocco 5Dr. Professor and Director, the National Higher School of Electricity and Mechanics (ENSEM), Morocco ---------------------------------------------------------------------***---------------------------------------------------------------------Abstract Unmanned Aerial Vehicles (UAVs) have drawn much attention from many researchers for decades and their studies still keeps growing intensely. The use of UAVs which can operate autonomously in dynamic and complex operational environments is becoming increasingly more common. There exists many categories of UAVs, one of the most interesting and challenging, in t...
Autonomous HexaRotor Arial Dynamic Modeling and a Review of Control Algorithms
© 2015, IRJET ISO 9001:2008 Certified Journal Page 1197 Abstract This paper is about modelling an... more © 2015, IRJET ISO 9001:2008 Certified Journal Page 1197 Abstract This paper is about modelling and control of Vertical Takeoff and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) specifically, micro hexarotor. The nonlinear dynamic model of the hexarotor is formulated using the Newton-Euler method, the formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in many literature. Based on the mathematical model, several algorithms have been analyzed, varying between the classical linear Proportional-Integral-Derivative (PID) controllers to more complex nonlinear schemes as backstepping or sliding-mode controllers. Simulation based experiments were conducted to evaluate and compare the performance of the proposed control techniques in terms of dynamic performance, stability and the effect of possible disturbances. Finally, integral backstepping is augmented with FST (Frenet-Serret Theory) action and proposed as a tool to design attitude, altitude...
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Papers by Mostafa MOUSSID