| Titre : | Quantum modelling, frequency-domain analysis and control of unmanned aerial vehicles (UAVs) for trajectory tracking tasks. |
| Auteurs : | Youcef Malek, Auteur ; Mohamed Ramzi Bendar, Auteur ; Mohamed Tadjine, Directeur de thèse ; Nadjet Zioui, Directeur de thèse |
| Type de document : | document électronique |
| Editeur : | [S.l.] : [s.n.], 2026 |
| Format : | 1 fichier PDF (3.6 Mo) / ill. |
| Note générale : |
Mode d'accès : accès au texte intégral par intranet.
Mémoire de Projet de Fin d'Études : Automatique : Alger, École Nationale Polytechnique : 2026 Bibliogr. p. 125-129 |
| Langues : | Anglais |
| Index. décimale : | PA00826 |
| Tags : | Quantum-inspired control Dual quaternions Sliding mode control UAV Trajectory tracking Quantum resolvent transform |
| Résumé : |
This thesis investigates quantum-inspired approaches for the modeling, analysis, and con-trol of six-degree-of-freedom (6-DoF) unmanned aerial vehicles (UAVs). Classical UAV control methods face two major limitations: singularities arising from Euler-angle repre-sentations, commonly known as gimbal lock, and actuator chattering generated by con-ventional Sliding Mode Control (SMC).
These issues can degrade tracking performanceand limit maneuverability during aggressive flight. To address these challenges, a uni-fied quantum-inspired control framework is proposed. The first contribution introduces a Quantum Frequency Domain Analysis methodology, in which classical transfer functions are mapped onto the Bloch sphere through a Spectral Qubit Mapping, leading to the devel-opment of the Quantum Resolvent Transform (QRT) for frequency-domain analysis. The second contribution presents a Dual Qubits Model that embeds unit dual quaternions into a two-qubit Hilbert space, providing a singularity-free representation of rigid-body pose and motion. Building upon this framework, the third contribution proposes a Quantum-Inspired Sliding Mode Controller (QSMC), where the discontinuous switching function of conventional SMC is replaced by a smooth Bloch-sphere-based formulation, significantly reducing chattering while preserving stability. The proposed methods are evaluated through simulation on a 6-DoF quadrotor UAV tracking three trajectories of increasing complexity, including an aerobatic maneuver that passes through the lassical gimbal-lock region. Three controllers are compared: a Quan-tum Laplace-based Linear Quadratic Regulator (LQR), a Dual Quaternion Sliding Mode Controller, and the proposed Dual Qubits QSMC. Experimental results obtained from 90 simulation runs demonstrate that the proposed QSMC achieves a 100% trajectory completion rate, reduces position tracking error compared with the LQR baseline and conventional SMC, and decreases actuator chattering. These results demonstrate the potential of quantum-inspired geometric representations to improve UAV control perfor-mance while maintaining smooth and physically feasible control actions. |
Exemplaires (1)
| Code-barres | Cote | Support | Localisation | Section | Disponibilité | Spécialité | Etat_Exemplaire | ||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| EP01057 | PA00826 | Ressources électroniques | Bibliothèque centrale | Projet Fin d'Etudes | Disponible | Automatique | Téléchargeable |
