In this paper, state variables estimation and Fuzzy Sliding Mode Control (FSMC) are presented in order to estimate the state variables and altitude-attitude tracking control in presence of internal and external disturbances for unmanned quadrotor. The main idea of the proposed control strategy is the development of an Extended Kalman Filter (EKF) for the observation of the states. Fuzzy logic systems are used to adapt the unknown switching-gains to eliminate the chattering phenomenon induced by Sliding Mode Control (SMC). The stability of the system is guaranteed in the sense of Lyapunov. The effectiveness and robustness of the proposed controller-observer scheme that takes into account internal and external disturbances are demonstrated on computer simulation using Matlab environment.

The interest shown by some community of researchers to autonomous drones or UAVs (unmanned aerial vehicles) has increased with the advent of wireless communication networks. These networks allow UAVs to cooperate more efficiently in an ad hoc manner in order to achieve specific tasks in specific environments. To do so, each drone navigates autonomously while staying connected with other nodes in its group via radio links. This connectivity can deliberately be maintained for a while constraining the mobility of the drones. This will be suitable for the drones involved in a given path of a given transmission between a source and a destination. This constraint could be removed at the end of the transmission process and the mobility of each concerned drone becomes again independent from the others. In this work, we proposed a flocking-based routing protocol for UAVs called BR-AODV. The protocol takes advantage of a well known ad hoc routing protocol for on-demand route computation, and the Boids of Reynolds mechanism for connectivity and route maintaining while data is being transmitted. Moreover, an automatic ground base stations discovery mechanism has been introduced for a proactive drones and ground networks association needed for the context of real-time applications. The performance of BR-AODV was evaluated and compared with that of classical AODV routing protocol and the results show that BR-AODV outperforms AODV in terms of delay, throughput and packet loss.

The interest shown by some community of researchers to autonomous drones or UAVs (unmanned aerial vehicles) has increased with the advent of wireless communication networks. These networks allow UAVs to cooperate more efficiently in an ad hoc manner in order to achieve specific tasks in specific environments. To do so, each drone navigates autonomously while staying connected with other nodes in its group via radio links. This connectivity can deliberately be maintained for a while constraining the mobility of the drones. This will be suitable for the drones involved in a given path of a given transmission between a source and a destination. This constraint could be removed at the end of the transmission process and the mobility of each concerned drone becomes again independent from the others. In this work, we proposed a flocking-based routing protocol for UAVs called BR-AODV. The protocol takes advantage of a well known ad hoc routing protocol for on-demand route computation, and the Boids of Reynolds mechanism for connectivity and route maintaining while data is being transmitted. Moreover, an automatic ground base stations discovery mechanism has been introduced for a proactive drones and ground networks association needed for the context of real-time applications. The performance of BR-AODV was evaluated and compared with that of classical AODV routing protocol and the results show that BR-AODV outperforms AODV in terms of delay, throughput and packet loss.

Nous avons essayé, par ce travail, d’apporter une contribution à l’étudier les aquifères de la plaine de Zana, et d’évaluer les risques de la pollution liée au flux azoté.La plaine de Zana fait partie du bassin versant des hauts plateaux constantinois et plus précisément du sous bassin versant Merdja Zana, qui s’étend sur une superficie de 369 Km² environ.L’étude de la géologie en association avec les données de la géophysique met en évidence l’existence de deux formations. La première formation, de surface d’âge Mio-Plio-Quaternaire formée par desniveaux de sable, de gravier, de calcaire lacustre et des intercalations argileuses. La deuxième formation, elle est carbonatée et formée essentiellement par des calcaires du Crétacé inférieur et du Jurassique supérieur de l’ensemble sud sétifien et du parautochtone aurésien. Le recouvrement de surface atteint dans certainsendroits les 150m d’épaisseur notamment au milieu de la plaine et une faible épaisseur au voisinage des massifs. Quant aux formations carbonatées elles ont 350m d’épaisseur.La géomorphologie, montre que notre bassin est allongé, il a une altitude moyenne de 935m et il est caractérisé par un relief modéré et de pente douce.Le réseau hydrographique est pet développer et de type endoréique avec un écoulement temporaire.L’étude climatologique a montré que la région d’étude a un climat semi aride avec un bilan hydrologique déficitaire.L’aperçu hydrogéologique de la plaine montre que les formations du Crétacé inférieur et du Jurassique supérieur peuvent offrir des possibilités aquifères très intéressantes de même que la formation superficielle, elle présente des potentialités aquifères non négligeables. La piézométrie montre une convergence vers les dépressions de Merdja de Zana et le Chott Saboun, qui représentent des exutoires naturels dela nappe.L’étude hydrochimique a permis d’attribuer l’origine évaporitique aux éléments Na+, Mg++, K+, Cl-,SO4–, quant à l’élément HCO3-, il est issu des formations carbonatées. Les deux compagnes d’analyses effectuées montrent que les eaux issues del’aquifère superficiel et de l’aquifère karstique ont le même faciès hydrochimique qui est de type chloruré et sulfaté magnésien, ce qui témoigne de l’existence d’une interaction probable entre les deux aquifères

In this paper, we are interested in the adaptive fuzzy control a technique has been studied and applied, namely adaptive fuzzy control based on theory of Lyapunov. The system based on the stability theory is used to approximate the gains Ke and kdce to ensure the stability of the control in real time .the simulations results obtained by using Matlab environment gives that the fuzzy adaptive control more robust, also it has superior dynamics performances. The results and test of robustness will be presented.