Attitude estimation & control of autonomous aerial vehicles

157 Pages·2016·13.12 MB·French

by  Lotfi Benziane

Attitude estimation & control of autonomous aerial
vehicles
Lotfi Benziane
To cite this version:
Lotfi Benziane. Attitude estimation & control of autonomous aerial vehicles. Robotics [cs.RO].
Universit´e de Versailles-Saint Quentin en Yvelines, 2015. English. <NNT : 2015VERS015V>.
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UNIVERSITÉDEVERSAILLESSAINT-QUENTIN
ECOLE DOCTORALE STV
SCIENCESETTECHNOLOGIESDEVERSAILLES
THÈSE
pourobtenirletitrede
DOCTEUR
del’UniversitédeVarsaillesSaint-Quentin
Mention: Automatique, Informatique et Traitement de Signal
Présentéepar
Lotfi BENZIANE
C ’E
ONTRIBUTIONS À L STIMATION ET À
C ’A
LA OMMANDE D TTITUDE DE
V A A
ÉHICULES ÉRIENS UTONOMES
ThèsepréparéeauLaboratoired’IngénieriedesSystèmesdeVersailles
Dirigéepar
AbdelazizBENALLEGUE,Professeur,LISV-UVSQ
AbdelhafidElHadri,Maîtredeconférence,LISV-UVSQ
Soutenuepubliquementle15Juin2015devantlejurycomposéde:
Président: PascalMORIN,Professeur,ISIR,Paris,FRANCE
Rapporteurs: NicolasMARCHAND,DirecteurdeRecherche,GIPSA-lab,Grenoble,FRANCE
MaruthiR.AKELLA,Professeur,DAEEM,U-TexasatAustin,Texas,USA
Examinateurs: YacineCHITOUR,Professeur,LSS-SUPELEC,Gif-sur-Yvette,FRANCE
MustaphaHAMERLAIN,Directeurderecherche,CDTA,Alger,ALGERIE
Invité: KamelREMILI,DirecteurdeRecherche,CRD,Réghaïa,ALGERIE
VERSAILLESSAINT-QUENTINUNIVERSITY
DOCTORAL SCHOOL STV
SCIENCEANDTECHNOLOGYOFVERSAILLES
THESIS
Thisdissertationissubmittedforthedegreeof
DOCTOR
ofVarsaillesSaint-QuentinUniversity
Discipline: Control, Computers and Signal Processing
By
Lotfi BENZIANE
A E & C
TTITUDE STIMATION ONTROL OF
A A V
UTONOMOUS ERIAL EHICLES
PreparedatVersaillesSystemsEngineeringLaboratory
Supervisedby
AbdelazizBENALLEGUE,Professor,LISV-UVSQ
AbdelhafidElHadri,AssociateProfessor,LISV-UVSQ
PubliclydefendedJune15,2015infrontofthedissertationcommittee:
President: PascalMORIN,Professor,ISIR,Paris,FRANCE
Reviewers: NicolasMARCHAND,ResearchDirector,GIPSA-lab,Grenoble,FRANCE
MaruthiR.AKELLA,Professor,DAEEM,U-TexasatAustin,Texas,USA
Examiners: YacineCHITOUR,Professor,LSS-SUPELEC,Gif-sur-Yvette,FRANCE
MustaphaHAMERLAIN,ResearchDirector,CDTA,Alger,ALGERIE
Invited: KamelREMILI,ResearchDirector,CRD,Réghaïa,ALGERIE
Tothememoryofmydaughter,myangelALÄAandthememoryofmyfather
Totheonethattaughtmethemeaningoflife,mymother
TomylovingwifeNadia,withoutherIcouldneverachievethiswork
Tomychildrenandallmyfamillyandin-lawsfamilly
MydaughterLili,wasborninMay15,2009at00:40Algiers-Algeria,diedJuly26,2013at
19:45Antony-France

Declaration
Iherebydeclarethatexceptwherespecificreferenceismadetotheworkofothers,thecontents
ofthisdissertationareoriginalandhavenotbeensubmittedinwholeorinpartforconsidera-
tion for any other degree or qualification in this, or any other University. This dissertation is
theresultofmyownworkandincludesnothingwhichistheoutcomeofworkdoneincollab-
oration, except where specifically indicated in the text. This dissertation contains fewer than
65,000wordsincludingappendices,bibliography,footnotes,tablesandequationsandhasless
than150figures.
LotfiBENZIANE
2015

Acknowledgements
My thanks and appreciation to my thesis supervisor Prof. A. BENALLEGUE. I am in debt to
him for all his teachings, his advices, his invaluable discussions and especially for giving me
support throughout the duration of this work. I am grateful as well to PROF. Y. CHITOUR
and PROF. A. TAYEBI, they were always humble and I appreciate their help, their guidance,
theircontribution,theirhelpfulcommentsandtheirrecommendations. Aspecialthankstomy
associate thesis supervisor Ass. PROF. A. EL HADRI and my friend A. SEBA for their help,
theirpresence,theworkwehaveaccomplishedtogether.
I owe many thanks to RESEARCH DIRECTOR. M. N. MARCHAND and ASS. PROF. M.
R. AKELLAfortakingthetimetoreviewmythesisreportandprovidingusefulcommentsand
suggestionstofurtherimprovethisdissertation. Thanksalsotoallmembersofmydissertation
committee, PROF. P. MORIN, PROF. Y. CHITOUR, RESEARCH DIRECTOR M. HAMERLAIN
and RESEARCH DIRECTOR K. REMILI for given me generously their time and expertise to
bettermywork. Ithankthemfortheirpatienceandforthehonorthatgavemebyacceptingto
judgethiswork.
I must acknowledge as well the director of Versailles Engineering Systems Laboratory -
LISV PROF. L. CHASSAGNE and the former director PROF. Y. ALAILI for their help, their
welcome and support. Thanks also to all laboratory staff and all those people whose names
arenotlistedherefortheirassistanceandhelpfuldiscussionsonthesubjectmatter.
Itisimportantformetomentionthesignificantandhugeworkdoneeverydaybyallstaff
ofVersaillesScienceandTechnologydoctoralSchool,myspecialthankstohisdirectorPROF.
C. LARPENT andtheSchoolmanager MS. V. DELAHAYE.
I am grateful to many friends, colleagues, neighbors, brothers, sisters, all my familly and
my in-laws familly in Algeria and France who emotional supported me and help through the
painful and enormous loss of my beloved daughter Lili. I mention especially ZEBIDA, ZA-
HIA, LE GRAND, NAGIB, WAHAB, OLIVIER’S, BRAHIM’S, MANAL, NAZIM, EMMANUEL,
H’MED’S, FARID’S, ADEL, FRANCOIS, SOFIANE, JUGURTHA, CHAMSSEDDINE, LILA,
ELIZABETTE, RIAD, MAGID’S, DOMINIQUE’S, AHMED’S, LIZA, RAFIK’S, TAKFARINAS,
HOSSINE, MOKHTAR, JACQUES, FOUAD’S, REDA, REDHA, MIMICHA, NACER, ODILE,
YAMINA, RACHED, PATRICIA, MOUFIDA, WALID’S, ZOUAOUI, HAMA, MOHAMMED AND
MOHAMED’S, LAMBERT, AISSA, FAFI, NABIL, ASMA, FRED, FAROUK’S, ABDELAALI,
ATHMAN, MOHAMMED ABDELLAH, BOUBAKER’S, WAHIBA, WISSEM, OMAR, ALI’S,
YACINE’S AND YASSINE’S, ABDELRAHMEN, LOKMANE, LARBI, FOUFA, LUC, SAMIRA,
HIBA, BACHIR’S, NAIMA, MALEK, AMINE’S, FAWZI’S, SIDOU, TAHER, SMAIL, KARIMA,
KAMEL’S, KARIM’S, ABDELSALAM, LOTFI, WILLIAM, YOUCEF’S, NAAFA, YASSER,
ABDELNOUR, M’BARKA, TAREK’S, AZOU, SAMIR’S, SAMER, KHALED’S, KHALID, AKRAM,
MESSAOUD AND MESSAOUD’S, ERIC, AZIZ’S, ABDEL’S, HICHEM’S, TUYET, KADOUR,
SAADI, ABDELKADER, ZOUHIR andmanyothers. PleaseforgivemeifIforgotsomeone...
Abstract
Nowadays, we see a growing popularity of the use of Unmanned Aerial Vehicles (UAV) of
especially Vertical Take-Off and Landing (VTOL) type. One of the most known VTOL is the
quadrotor or Quadcopter which is probably the most used one as a research platform. This
thesis deal with attitude control and estimation techniques applied to a rigid body moving
in 3D space such as Quadcopter VTOL. The first contribution of this thesis is the design of
a new class of complementary linear-like filters allowing the fusion of inertial vector mea-
surements with angular velocity measurements and combined with algebraic algorithms as
TRIAD, QUEST etc. to give an efficient attitude estimation solution. This class of filters
allows several possibilities of implementation such as the order of the filters which can be
chosen high in order to reduce more the measurement noise and the form of the filters that
can be direct or passive and the ability to take into account the possible gyro bias. Lyapunov
analysis shows the global asymptotic convergence of the estimation errors to zero. The same
principle of data fusion is used for the proposed new attitude control law in which the com-
plementary filters were included to reduce the effect of measurement noise. The obtained
controller ensures almost global stability of the desired equilibrium point; it represents the
second contribution of this thesis. The third contribution takes into consideration an inter-
esting special case, where instantaneous measurements of attitude and angular velocity are
unavailable. A first order linear auxiliary system based directly on vector measurements is
used in an observer-like system to handle the luck of angular velocity. The proposed con-
troller ensures almost global asymptotic stability of the trajectories to the desired equilibrium
point. Detailedsetsofexperimentsweredonetovalidatetheobtainedresults.