Taha Yacine Trad^1,*, Kheireddine Choutri¹, Mohand Lagha¹, Souham Meshoul², Fouad Khenfri³, Raouf Fareh⁴, Hadil Shaiba⁵

CMC-Computers, Materials & Continua, Vol.81, No.3, pp. 4757-4786, 2024, DOI:10.32604/cmc.2024.055634 - 19 December 2024

Abstract The popularity of quadrotor Unmanned Aerial Vehicles (UAVs) stems from their simple propulsion systems and structural design. However, their complex and nonlinear dynamic behavior presents a significant challenge for control, necessitating sophisticated algorithms to ensure stability and accuracy in flight. Various strategies have been explored by researchers and control engineers, with learning-based methods like reinforcement learning, deep learning, and neural networks showing promise in enhancing the robustness and adaptability of quadrotor control systems. This paper investigates a Reinforcement Learning (RL) approach for both high and low-level quadrotor control systems, focusing on attitude stabilization and position… More >

Linlin Zhang, Lvzhao Bai, Jianshu Liang, Zhiying Qin^*, Yuejing Zhao

Computer Systems Science and Engineering, Vol.48, No.6, pp. 1557-1579, 2024, DOI:10.32604/csse.2024.054237 - 22 November 2024

Abstract Quadrotor unmanned aerial vehicles (UAVs) are widely used in inspection, agriculture, express delivery, and other fields owing to their low cost and high flexibility. However, the current UAV control system has shortcomings such as poor control accuracy and weak anti-interference ability to a certain extent. To address the control problem of a four-rotor UAV, we propose a method to enhance the controller’s accuracy by considering underactuated dynamics, nonlinearities, and external disturbances. A mathematical model is constructed based on the flight principles of the quadrotor UAV. We develop a control algorithm that combines humanoid intelligence with… More >

Raja Jarray¹, Mujahed Al-Dhaifallah^2,*, Hegazy Rezk^3,4, Soufiene Bouallègue^1,5

CMC-Computers, Materials & Continua, Vol.69, No.2, pp. 2159-2180, 2021, DOI:10.32604/cmc.2021.018752 - 21 July 2021

Abstract Paths planning of Unmanned Aerial Vehicles (UAVs) in a dynamic environment is considered a challenging task in autonomous flight control design. In this work, an efficient method based on a Multi-Objective Multi-Verse Optimization (MOMVO) algorithm is proposed and successfully applied to solve the path planning problem of quadrotors with moving obstacles. Such a path planning task is formulated as a multicriteria optimization problem under operational constraints. The proposed MOMVO-based planning approach aims to lead the drone to traverse the shortest path from the starting point and the target without collision with moving obstacles. The vehicle… More >

Rabii Fessi¹, Hegazy Rezk^2,3,*, Soufiene Bouallègue^1,4

CMC-Computers, Materials & Continua, Vol.68, No.2, pp. 2265-2282, 2021, DOI:10.32604/cmc.2021.017237 - 13 April 2021

Abstract The research on Unmanned Aerial Vehicles (UAV) has intensified considerably thanks to the recent growth in the fields of advanced automatic control, artificial intelligence, and miniaturization. In this paper, a Grey Wolf Optimization (GWO) algorithm is proposed and successfully applied to tune all effective parameters of Fast Terminal Sliding Mode (FTSM) controllers for a quadrotor UAV. A full control scheme is first established to deal with the coupled and underactuated dynamics of the drone. Controllers for altitude, attitude, and position dynamics become separately designed and tuned. To work around the repetitive and time-consuming trial-error-based procedures,… More >

Abdul-Wahid A. Saif¹, Mohammad Ataur-Rahman¹, Sami Elferik¹, Muhammad F. Mysorewala¹, Mujahed Al-Dhaifallah^1,*, Fouad Yacef²

Intelligent Automation & Soft Computing, Vol.27, No.3, pp. 817-834, 2021, DOI:10.32604/iasc.2021.015932 - 01 March 2021

Abstract In this paper, the formation control problem of a group of unmanned air vehicle (UAV) quadrotors is solved using the Takagi–Sugeno (T–S) multi-model approach to linearize the nonlinear model of UAVs. The nonlinear model sof the quadrotor is linearized first around a set of operating points using Taylor series to get a set of local models. Our approach’s novelty is in considering the difference between the nonlinear model and the linearized ones as disturbance. Then, these linear models are interpolated using the fuzzy T–S approach to approximate the entire nonlinear model. Comparison of the nonlinear… More >

Nour Ben Ammar¹, Hegazy Rezk^2,3,*, Soufiene Bouallègue^1,4

CMC-Computers, Materials & Continua, Vol.67, No.3, pp. 4081-4100, 2021, DOI:10.32604/cmc.2021.015681 - 01 March 2021

Abstract This work presents a memetic Shuffled Frog Leaping Algorithm (SFLA) based tuning approach of an Integral Sliding Mode Controller (ISMC) for a quadrotor type of Unmanned Aerial Vehicles (UAV). Based on the Newton–Euler formalism, a nonlinear dynamic model of the studied quadrotor is firstly established for control design purposes. Since the main parameters of the ISMC design are the gains of the sliding surfaces and signum functions of the switching control law, which are usually selected by repetitive and time-consuming trials-errors based procedures, a constrained optimization problem is formulated for the systematically tuning of these… More >

Ivan Paulo Canal^1,*, Manuel Martin Pérez Reimbold², Maurício de Campos²

CMES-Computer Modeling in Engineering & Sciences, Vol.125, No.1, pp. 65-75, 2020, DOI:10.32604/cmes.2020.010741 - 18 September 2020

Abstract An aircraft quadrotor is a complex control system that allows for great flexibility in flight. Controlling multirotor aerial systems such as quadrotors is complex because the variables involved are not always available, known, and accurate. The inclusion of payload changes the dynamic characteristics of the aircraft, making it necessary to adapt the control system for this situation. Among the various control methods that have been investigated, proportional-integralderivative (PID) control offers good results and simplicity of application; however, achieving stability and high performance is challenging, with the most critical task being tuning the controller gains. The… More >

Pi-Yun Chen, Guan-Yu Chen^*

Intelligent Automation & Soft Computing, Vol.26, No.3, pp. 489-500, 2020, DOI:10.32604/iasc.2020.013925

Abstract The objective of this paper is to design a new Quadrotor Autonomous Following System, and the main three contents are as follows: Object tracking, quadrotor attitude determination and the controller. The image tracking portion performs object detection and keeps tracking by way of the Tracking-Learning-Detection (TLD), and gets the information of the target motion estimation positions. The attitude determination of the Quadrotor has adopted the Inertial Navigation System and sensors of the accelerometer, gyroscope and electronic compass, etc. for retrieving the information. The Kalman filter is also utilized for estimating the current values in order More >