Tolérance aux défauts via la méthode backstepping des systèmes non linéaires : Application Système UAV de type Quadrirotor

Abstract

The objective of this work is to present two approaches of fault tolerant control (PFTC and AFTC), with application for an UAV type: quadrotor. After a state of the art for FTC systems, we designed the complete model of quadrotor which used to study its behavior in differents operating regimes. Then, we exposed the theoretical basis of two control techniques: sliding mode control and backstepping control. However the preservation of stability and performances of this system requires the application of fault tolerant control techniques. We have also developed new FTC strategies based on backstepping approach to ensure the stability and performance of our system, not only when the control components are operational but also when the sensors (or / and) and actuators are faulty.