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92 results on '"Bouzid, Yasser"'

6. Novel Smart Air Quality Monitoring System Based on UAV Quadrotor

Author

Zareb, Mehdi, Bakhti, Benaoumer, Bouzid, Yasser, Kadourbenkada, Hamza, Bouzgou, Kamel, Nouibat, Wahid, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Bououden, Sofiane, editor, Chadli, Mohammed, editor, Ziani, Salim, editor, and Zelinka, Ivan, editor

Published
2021
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7. Multi-UAVs Coverage Path Planning

Author

Bouras, Abdelwahhab, Bouzid, Yasser, Guiatni, Mohamed, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Bououden, Sofiane, editor, Chadli, Mohammed, editor, Ziani, Salim, editor, and Zelinka, Ivan, editor

Published
2021
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8. Robust Vision-Based Sliding Mode Control for Uncooperative Ground Target Searching and Tracking by Quadrotor

Author

Bouzerzour, Hamza, Guiatni, Mohamed, Allam, Ahmed, Bouzid, Yasser, and Hamrelain, Mustapha

Abstract

In this paper, the problem of searching and tracking uncooperative and unidentified mobile ground target using a quadcopter unmanned aerial vehicle (QUAV) is investigated. The proposed strategy is an Image-Based Visual Servoing (IBVS) approach, combined with the virtual camera concept and robust control. This strategy makes use of the rough prior information of the target, in contrast with existing strategies, which will alleviate the problem of altitude estimation noise and enhance the overall accuracy. Hence, a new vision-based sliding mode controller (SMC) is designed to control the quadcopter taking into account the flight phase’s heterogeneity, the external disturbances and parameters uncertainties as well as the target maneuverability. In order to get a better insight about the SMC tuning and adjustment, three different reaching laws are evaluated and compared. The proposed controller allows an automatic execution of the flight strategy whilst the searching phase relies on the Camera Coverage Area (CCA) technique. The vision-based technique allows an automatic QUAV altitude tuning for optimal target observation and tracking. Another contribution of this work is the fact that the designed controller validity and stability overspan the entire scenario to reach the universal and to smoothen out surges generated by control switching. Numerical simulations are conducted to compare the proposed SMC controllers and validate the effectiveness of the whole strategy.

Published
2024
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9. Fault Tolerant Control Based on Thau Observer of a Reconfigurable Quadrotor with Total Loss of Actuator

Author

Salmi, Abdenour, Guiatni, Mohamed, Bouzid, Yasser, Derrouaoui, Saddam Hocine, and Boudjema, Farés

Abstract

In this paper, we propose a Fault Tolerant Control (FTC) strategy for a reconfigurable quadrotor with foldable arms, to deal with a total loss of one of its rotors. The proposed strategy allows adapting the configuration of the quadrotor when one of its rotors is lost. It consists of: (i) a Fault Detection and Isolation (FDI) module, (ii) a robust controller, and (iii) a reconfiguration module. The FDI module is designed based on the nonlinear Thau observer in order to detect and identify the rotors faults. Once a rotor fault is detected based on the residual analysis, the quadrotor changes its shape by rotating the two adjacent arms in the direction of damaged one in order to form a trirotor configuration. This transformation induces a variation of vehicle’s center of gravity (CoG), inertia, and consequently the control matrix. To deal with this issue, a sliding mode controller (SMC) is designed based on the control allocation matrix, where the control efforts are redistributed among healthy actuators. Numerical simulations are carried out to verify the effectiveness of the proposed approach. The obtained results show that the proposed strategy is successful in controlling the damaged quadrotor by trajectory tracking.

Published
2024
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47. Generic dynamic modeling and robust Sliding Mode based Model-Free Control for 3D navigation of multirotor VTOL UAVs

Author

Bouzid , Yasser, Siguerdidjane , Houria, Bestaoui , Yasmina, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE), Laboratoire des signaux et systèmes (L2S), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Informatique, Biologie Intégrative et Systèmes Complexes ( IBISC ), Université d'Évry-Val-d'Essonne ( UEVE ), Laboratoire des signaux et systèmes ( L2S ), and Université Paris-Sud - Paris 11 ( UP11 ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS )

Subjects
[ SPI.AUTO ] Engineering Sciences [physics]/Automatic, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; This paper introduces a generic and accurate dynamic model, based on Newton-Euler formalism, for multirotor vehicles taking into consideration aerodynamic effects. Besides, the paper considers a reformulation of the well-known Model-Free Control (MFC), which is applied for a low-cost quadrotor even in the presence of various type disturbances, including unmodeled or neglected dynamics, parametric uncertainties, external disturbances, etc. This reformulation takes into consideration the limitation of the estimator used by the classical MFC by using a Sliding Mode auxiliary Controller (SMC) leading to SMC-MFC controller. In addition, instead of using a pure data-driven based control, we introduce the available mathematical dynamics of the system even if they are poorly known. Herein, the MFC principle is employed to deal with the unknown part of the plant only (i.e., unmodeled dynamics, disturbances, etc.). The stability of the closed-loop system is guaranteed and for which a theoretical analysis is provided. The numerical simulations have shown satisfactory results. An in-depth discussion, with respect to the control performance and consumed energy, is highlighted by considering several scenarios and using several metrics.

Published
2018

48. Quadrotor Guidance-Control for flight like nonholonomic vehicle system

Author

Bouzid , Yasser, Siguerdidjane , Houria, Bestaoui , Yasmina, Informatique, Biologie Intégrative et Systèmes Complexes ( IBISC ), Université d'Évry-Val-d'Essonne ( UEVE ), Laboratoire des signaux et systèmes ( L2S ), and Université Paris-Sud - Paris 11 ( UP11 ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS )

Subjects
[ SPI.AUTO ] Engineering Sciences [physics]/Automatic, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2018

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