Pub Date : 2020-12-20DOI: 10.1109/STA50679.2020.9329301
Esra A. Abdelnabi, Abdelsalam M. Maatuk, T. Abdelaziz, Salwa M. Elakeili
Several tools and approaches have been proposed to generate Unified Modeling Language (UML) diagrams. Researchers focus on automating the process of extracting valuable information from Natural Language (NL) text to generate UML models. The existing approaches show less accurateness because of the ambiguity of NL. In this paper, we present a method for generation class models from software specification requirements using NL practices and a set of heuristic rules to facilitate the transformation process. The NL requirements are converted into a formal and controlled representation to increase the accuracy of the generated class diagram. A set of pre-defined rules has been developed to extract OO concepts such as classes, attributes, methods, and relationships to generate a UML class diagram from the given requirements specifications. The approach has been applied and evaluated practically, where the results show that the approach is both feasible and acceptable.
{"title":"Generating UML Class Diagram using NLP Techniques and Heuristic Rules","authors":"Esra A. Abdelnabi, Abdelsalam M. Maatuk, T. Abdelaziz, Salwa M. Elakeili","doi":"10.1109/STA50679.2020.9329301","DOIUrl":"https://doi.org/10.1109/STA50679.2020.9329301","url":null,"abstract":"Several tools and approaches have been proposed to generate Unified Modeling Language (UML) diagrams. Researchers focus on automating the process of extracting valuable information from Natural Language (NL) text to generate UML models. The existing approaches show less accurateness because of the ambiguity of NL. In this paper, we present a method for generation class models from software specification requirements using NL practices and a set of heuristic rules to facilitate the transformation process. The NL requirements are converted into a formal and controlled representation to increase the accuracy of the generated class diagram. A set of pre-defined rules has been developed to extract OO concepts such as classes, attributes, methods, and relationships to generate a UML class diagram from the given requirements specifications. The approach has been applied and evaluated practically, where the results show that the approach is both feasible and acceptable.","PeriodicalId":158545,"journal":{"name":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125212948","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-20DOI: 10.1109/STA50679.2020.9329343
M. Kermani, Ahmed Anis Kahloul, A. Sakly
In this paper an optimal control strategy for switched nonlinear systems is addressed. A metaheuristic hybrid approach based on the Cuckoo Search algorithm is suggested for this issue. The main objective of the suggested approach consists to minimize a performance criterion which depends on the optimal switching instants to be found, over a finite time horizon. Lastly, a hydraulic two-tank system will be given to show the performance and the effectiveness of the suggest method.
{"title":"Cuckoo Search Algorithm Based An Optimal Control Strategy for Switched Nonlinear Systems","authors":"M. Kermani, Ahmed Anis Kahloul, A. Sakly","doi":"10.1109/STA50679.2020.9329343","DOIUrl":"https://doi.org/10.1109/STA50679.2020.9329343","url":null,"abstract":"In this paper an optimal control strategy for switched nonlinear systems is addressed. A metaheuristic hybrid approach based on the Cuckoo Search algorithm is suggested for this issue. The main objective of the suggested approach consists to minimize a performance criterion which depends on the optimal switching instants to be found, over a finite time horizon. Lastly, a hydraulic two-tank system will be given to show the performance and the effectiveness of the suggest method.","PeriodicalId":158545,"journal":{"name":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129817047","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-20DOI: 10.1109/STA50679.2020.9329339
Nahla L. M Hweesa, Amer M. Daeri, A. Zerek, K. Bedoud
In wireless communication, for a system to perform adequately there has to be a balance between the transmit bandwidth and the immunity to interference as well as fading. This certainly will have an effect on the frequency re-use. Co-channel and adjacent channel interferences dictate the kind of modulation to be implemented in the desired wireless communication system to be used since immunity to interference is one of the requirements for modulation method to be selected. In this paper the effect of co-channel interference (CCI) and adjacent channel interference (ACI) on AWGN and Rayleigh communication channels is studied, where a 32-QAM modulation is used to evaluate the effect of these interferences on system performance is analyzed using Matlab Simulink package version 19.0 by considering constellation and bit error rate (BER) of the mentioned QAM technique.
{"title":"Investigation the Performance Effect of Adjacent and Co-Channel Interferences on AWGN and Rayleigh Channels Using 32-QAM Modulation","authors":"Nahla L. M Hweesa, Amer M. Daeri, A. Zerek, K. Bedoud","doi":"10.1109/STA50679.2020.9329339","DOIUrl":"https://doi.org/10.1109/STA50679.2020.9329339","url":null,"abstract":"In wireless communication, for a system to perform adequately there has to be a balance between the transmit bandwidth and the immunity to interference as well as fading. This certainly will have an effect on the frequency re-use. Co-channel and adjacent channel interferences dictate the kind of modulation to be implemented in the desired wireless communication system to be used since immunity to interference is one of the requirements for modulation method to be selected. In this paper the effect of co-channel interference (CCI) and adjacent channel interference (ACI) on AWGN and Rayleigh communication channels is studied, where a 32-QAM modulation is used to evaluate the effect of these interferences on system performance is analyzed using Matlab Simulink package version 19.0 by considering constellation and bit error rate (BER) of the mentioned QAM technique.","PeriodicalId":158545,"journal":{"name":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124574311","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-20DOI: 10.1109/STA50679.2020.9329294
Ahmed Qaddus, A. A. Minhas
The rapid growth and expansion of the Rail networks around the globe has created numerous challenges in Railways Technical operations in terms of Signaling and Level crossings. Therefore to ensure Railway commuter safety it is mandatory to adopt a wireless technology which could enhanced the railway technical operations capability in terms of efficient Signaling and Level crossings. In this research, authors have propose the use of Dual Band Microwave Radios (DBMR) in NATO Band III (1.350 to 1.850 GHz) and NATO Band IV (4.430 to 4.950 GHz) as an alternative wireless medium for Outdoor Visible Light Communication (VLC) in Medium Speed Railways (MSR). In this study Authors will highlight the drawbacks of using Visible Light Communication (VLC) in outdoor environment for the Railways Signaling and Level Crossings. Further Authors will propose that how can the Medium Speed Railways (MSR) network technical operations capabilities of Signaling and Level crossings can be better optimized by using Dual Band Microwave Radios (DBMR).
{"title":"Use of Dual Band Microwave Radios as an Alternative Wireless Medium for Outdoor Visible Light Communication in Medium Speed Railways","authors":"Ahmed Qaddus, A. A. Minhas","doi":"10.1109/STA50679.2020.9329294","DOIUrl":"https://doi.org/10.1109/STA50679.2020.9329294","url":null,"abstract":"The rapid growth and expansion of the Rail networks around the globe has created numerous challenges in Railways Technical operations in terms of Signaling and Level crossings. Therefore to ensure Railway commuter safety it is mandatory to adopt a wireless technology which could enhanced the railway technical operations capability in terms of efficient Signaling and Level crossings. In this research, authors have propose the use of Dual Band Microwave Radios (DBMR) in NATO Band III (1.350 to 1.850 GHz) and NATO Band IV (4.430 to 4.950 GHz) as an alternative wireless medium for Outdoor Visible Light Communication (VLC) in Medium Speed Railways (MSR). In this study Authors will highlight the drawbacks of using Visible Light Communication (VLC) in outdoor environment for the Railways Signaling and Level Crossings. Further Authors will propose that how can the Medium Speed Railways (MSR) network technical operations capabilities of Signaling and Level crossings can be better optimized by using Dual Band Microwave Radios (DBMR).","PeriodicalId":158545,"journal":{"name":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124592725","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-20DOI: 10.1109/STA50679.2020.9329347
I. Hussein, Sirine Essallah, A. Khedher
Compared to high voltage alternative current (HVAC) technology, the high voltage direct current (HVDC) transmission allows electrical renewable power (such as solar and wind) transporting over several thousand kilometers with minimum losses. This technology enables large scale solar power penetration in the current power grid. The aim of this paper is to present a comparative study between the HVDC and the HVAC photovoltaic system integration methods. The impact of the renewable energy penetration on the power load flow and short circuit levels (SCLs) using double circuit links for HVAC and bipolar links for HVDC is also investigated. The study is carried out on the Iraqi Super grid using PSS/E software package for different transmission line lengths. Simulation results demonstrate that the HVDC system surpasses the HVAC one in terms of power losses and SCL minimization.
{"title":"Comparative Study of HVDC and HVAC Systems in Presence of Large Scale Renewable Energy Sources","authors":"I. Hussein, Sirine Essallah, A. Khedher","doi":"10.1109/STA50679.2020.9329347","DOIUrl":"https://doi.org/10.1109/STA50679.2020.9329347","url":null,"abstract":"Compared to high voltage alternative current (HVAC) technology, the high voltage direct current (HVDC) transmission allows electrical renewable power (such as solar and wind) transporting over several thousand kilometers with minimum losses. This technology enables large scale solar power penetration in the current power grid. The aim of this paper is to present a comparative study between the HVDC and the HVAC photovoltaic system integration methods. The impact of the renewable energy penetration on the power load flow and short circuit levels (SCLs) using double circuit links for HVAC and bipolar links for HVDC is also investigated. The study is carried out on the Iraqi Super grid using PSS/E software package for different transmission line lengths. Simulation results demonstrate that the HVDC system surpasses the HVAC one in terms of power losses and SCL minimization.","PeriodicalId":158545,"journal":{"name":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123327925","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-20DOI: 10.1109/STA50679.2020.9329348
Sourour Mosbahi, S. Baccar, M. Ghorbel
Experts and researchers think that many applications requiring a partially or totally autonomous energy sources in the human environment will rely, in the coming years, on energy harvesting (EH) solutions. Connected devices and consumer electronics will benefit from this technique in the future. The piezoelectricity (PE) is among the most attractive energy sources to achieve and concretize EH principle thanks to the availability of sources (vibration, motion, etc.) A piezoelectric energy harvester (PEH) contains a transducer and a circuit that will process the piezoelectric electric current. This paper deals with a brief review of conventional circuits of PEH and their models. We simulate a P-SSHI circuit to test the validity of the theoretical predicted power.
{"title":"Modeling and Simulation of Rectified Power in Conventional Synchronized Switching Circuits of Piezoelectric Energy Harvesters","authors":"Sourour Mosbahi, S. Baccar, M. Ghorbel","doi":"10.1109/STA50679.2020.9329348","DOIUrl":"https://doi.org/10.1109/STA50679.2020.9329348","url":null,"abstract":"Experts and researchers think that many applications requiring a partially or totally autonomous energy sources in the human environment will rely, in the coming years, on energy harvesting (EH) solutions. Connected devices and consumer electronics will benefit from this technique in the future. The piezoelectricity (PE) is among the most attractive energy sources to achieve and concretize EH principle thanks to the availability of sources (vibration, motion, etc.) A piezoelectric energy harvester (PEH) contains a transducer and a circuit that will process the piezoelectric electric current. This paper deals with a brief review of conventional circuits of PEH and their models. We simulate a P-SSHI circuit to test the validity of the theoretical predicted power.","PeriodicalId":158545,"journal":{"name":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115625983","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-20DOI: 10.1109/STA50679.2020.9329334
Marmouch Sameh, Aroui Tarek, Koubaa Yassine
The Artificial Intelligence (AI) is revolutionizing extensively in various industrial fields. The robustness of AI comes from utilization of information processing in solving complex real world problems. Contrary to other types of artificial intelligence, the Artificial Neural Networks (ANN) can monitor any industrial process, inspired by the functionality of the human brain. This paper is devoted to the diagnosis of induction machine by using the artificial neural network based on the stator current analysis as input features. The current work aims to compare the effectiveness of both types ANN classifiers: the Radial Basis Function Network (RBF) and Probabilistic Neural Network (PNN) in asynchronous machine faults (rotor and bearing faults) detection and severity evaluation. We've proved that RBF networks are better suited for assessing the severity of defects while the PNN gives better results when differentiating between rotor and bearing defects. The results presented in this work are confirmed experimentally.
{"title":"Bearing and Rotor Faults detection and diagnosis of Induction Motors using Statistical Neural Networks","authors":"Marmouch Sameh, Aroui Tarek, Koubaa Yassine","doi":"10.1109/STA50679.2020.9329334","DOIUrl":"https://doi.org/10.1109/STA50679.2020.9329334","url":null,"abstract":"The Artificial Intelligence (AI) is revolutionizing extensively in various industrial fields. The robustness of AI comes from utilization of information processing in solving complex real world problems. Contrary to other types of artificial intelligence, the Artificial Neural Networks (ANN) can monitor any industrial process, inspired by the functionality of the human brain. This paper is devoted to the diagnosis of induction machine by using the artificial neural network based on the stator current analysis as input features. The current work aims to compare the effectiveness of both types ANN classifiers: the Radial Basis Function Network (RBF) and Probabilistic Neural Network (PNN) in asynchronous machine faults (rotor and bearing faults) detection and severity evaluation. We've proved that RBF networks are better suited for assessing the severity of defects while the PNN gives better results when differentiating between rotor and bearing defects. The results presented in this work are confirmed experimentally.","PeriodicalId":158545,"journal":{"name":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123080021","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-20DOI: 10.1109/STA50679.2020.9329300
Nahla L. M Hweesa, A. Zerek, Amer M. Daeri, Messaoud Fatima Zahra
In wireless communication systems the interference is an essential nature of that is several transmissions frequently take place instantaneously over a common communication channel. In the cellular radio systems, a major limiting factor for their performance is interference. It is severely effects the system due to the notable increase in dropped calls as well as limit their capacity and hence degrades the system quality. Therefore, this problem must be carefully taken into account when designing wireless cellular communication systems. Interference sources are added mobiles in a similar cell, a call being in development in nearby cell, as well as another nearby base station having the same frequency band. This kind of interference can be divided into two main categories Adjacent Channel Interference (ACI) and Co-Channel Interference (CCI). To investigate the effect of ACI and CCI on AWGN and Rayleigh channels for data communication. The 8-Quadrature Amplitude Modulation (8-QAM) technique is used because it is well known technique in communication systems. These two signals are applied on both AWGN and Rayleigh channels. In this paper the interference effect is investigated, and simulated using Simulink. The obtained results in terms of Bit Error Rate (BER) against the bit energy to noise energy ratio (Eb/No), indicate that the 8-QAM modulation performs fairly well under these conditions.
{"title":"Adjacent and Co-Channel Interferences Effect on AWGN and Rayleigh Channels Using 8-QAM Modulation for Data Communication","authors":"Nahla L. M Hweesa, A. Zerek, Amer M. Daeri, Messaoud Fatima Zahra","doi":"10.1109/STA50679.2020.9329300","DOIUrl":"https://doi.org/10.1109/STA50679.2020.9329300","url":null,"abstract":"In wireless communication systems the interference is an essential nature of that is several transmissions frequently take place instantaneously over a common communication channel. In the cellular radio systems, a major limiting factor for their performance is interference. It is severely effects the system due to the notable increase in dropped calls as well as limit their capacity and hence degrades the system quality. Therefore, this problem must be carefully taken into account when designing wireless cellular communication systems. Interference sources are added mobiles in a similar cell, a call being in development in nearby cell, as well as another nearby base station having the same frequency band. This kind of interference can be divided into two main categories Adjacent Channel Interference (ACI) and Co-Channel Interference (CCI). To investigate the effect of ACI and CCI on AWGN and Rayleigh channels for data communication. The 8-Quadrature Amplitude Modulation (8-QAM) technique is used because it is well known technique in communication systems. These two signals are applied on both AWGN and Rayleigh channels. In this paper the interference effect is investigated, and simulated using Simulink. The obtained results in terms of Bit Error Rate (BER) against the bit energy to noise energy ratio (Eb/No), indicate that the 8-QAM modulation performs fairly well under these conditions.","PeriodicalId":158545,"journal":{"name":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"166 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116304355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-20DOI: 10.1109/STA50679.2020.9329293
Afef Najjar, M. Amairi
Communication delays are one of the most challenging problems in networked control systems (NCSs). This paper deals with remote supervision of a class of discret NCSs with parameter-varying. The network induces transmission delays in the actuation and the measurement channels. These delays are assumed to be random but bounded. Under this assumption, an interval observer is developed to estimate unavailable process state. Then, a state prediction technique is required to compensate measurement channel delays. A numerical example is presented in order to demonstrate the framework efficiency.
{"title":"Remote Supervision of Discret Parameter-Varying Networked Control Systems in a Set-membership Framework","authors":"Afef Najjar, M. Amairi","doi":"10.1109/STA50679.2020.9329293","DOIUrl":"https://doi.org/10.1109/STA50679.2020.9329293","url":null,"abstract":"Communication delays are one of the most challenging problems in networked control systems (NCSs). This paper deals with remote supervision of a class of discret NCSs with parameter-varying. The network induces transmission delays in the actuation and the measurement channels. These delays are assumed to be random but bounded. Under this assumption, an interval observer is developed to estimate unavailable process state. Then, a state prediction technique is required to compensate measurement channel delays. A numerical example is presented in order to demonstrate the framework efficiency.","PeriodicalId":158545,"journal":{"name":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123765734","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-20DOI: 10.1109/STA50679.2020.9329350
S. Souissi, Mohamed Boukattaya, T. Damak
In this paper, we study the problem of trajectory tracking control for autonomous marines vehicles using robust sliding-mode controller. The proposed algorithm achieves good tracking performance of marine vehicle in the open sea in which there exist severe environmental disturbances and unknowns dynamic parameters. First, the dynamic model in task space of the marine vehicle system in horizontal motion is designed. By using position and velocity tracking errors, a robust controller is then developed based on a linear sliding-mode surface. The designed algorithm is chattering free due to hyperbolic tangent function in switching part. Based on the Lyapunov theorem, the stability in closed-loop system is guaranteed and the convergence of the position and velocity tracking errors are obtained. In addition, the robustness of the controller is verified when disturbances and uncertainties are introduced in the system. Extensive simulations are conducted to demonstrate the validity of the proposed algorithm.
{"title":"Robust Sliding-Mode Control for the Problem of Trajectory Tracking of Autonomous Marines Vehicles","authors":"S. Souissi, Mohamed Boukattaya, T. Damak","doi":"10.1109/STA50679.2020.9329350","DOIUrl":"https://doi.org/10.1109/STA50679.2020.9329350","url":null,"abstract":"In this paper, we study the problem of trajectory tracking control for autonomous marines vehicles using robust sliding-mode controller. The proposed algorithm achieves good tracking performance of marine vehicle in the open sea in which there exist severe environmental disturbances and unknowns dynamic parameters. First, the dynamic model in task space of the marine vehicle system in horizontal motion is designed. By using position and velocity tracking errors, a robust controller is then developed based on a linear sliding-mode surface. The designed algorithm is chattering free due to hyperbolic tangent function in switching part. Based on the Lyapunov theorem, the stability in closed-loop system is guaranteed and the convergence of the position and velocity tracking errors are obtained. In addition, the robustness of the controller is verified when disturbances and uncertainties are introduced in the system. Extensive simulations are conducted to demonstrate the validity of the proposed algorithm.","PeriodicalId":158545,"journal":{"name":"2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"213 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115949602","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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