Contribution à la modélisation et à la conception de lois de commande stabilisantes pour le guidage d'un hexacoptère

Abstract

This thesis focuses on achieving effective control of a hexacopter drone, highlighting its advantages over other multicopters, including stable hovering and fault tolerance for successful and safe mission accomplishment. The initial phase involves modeling the drone under specific assumptions, followed by synthesizing three distinct control laws for the development of controllers. The study then proceeds to simulate the drone’s control using three different techniques: PID, Backstepping, and sliding mode. A comprehensive comparison of these control techniques is conducted, providing valuable insights into their performance and applicability. The findings contribute to advancing the understanding and implementation of efficient control strategies for hexacopter drones.