Pub Date : 2013-10-01DOI: 10.1109/ICOSC.2013.6750965
M. Zareb, R. Ayad, W. Nouibat
This paper report on the synthesis of a flight control system for an autonomous mini-Quadrotor. This system is developed on the base of realistic non-linear mathematical model. It's consisting of hybrid controllers, two controllers are Mamdani-type fuzzy controllers for attitude control. These fuzzy controllers are designed using a simple rule base. Four conventional SISO PID controllers are also used for roll, pitch, yaw angles and altitude control, Performance issues of flight control system are illustrated in a simulator of the Quadrotor in Matlab Simulink. The results show that the overall system becomes stable and robust.
{"title":"Fuzzy-PID hybrid control system to navigate an autonomous mini-Quadrotor","authors":"M. Zareb, R. Ayad, W. Nouibat","doi":"10.1109/ICOSC.2013.6750965","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750965","url":null,"abstract":"This paper report on the synthesis of a flight control system for an autonomous mini-Quadrotor. This system is developed on the base of realistic non-linear mathematical model. It's consisting of hybrid controllers, two controllers are Mamdani-type fuzzy controllers for attitude control. These fuzzy controllers are designed using a simple rule base. Four conventional SISO PID controllers are also used for roll, pitch, yaw angles and altitude control, Performance issues of flight control system are illustrated in a simulator of the Quadrotor in Matlab Simulink. The results show that the overall system becomes stable and robust.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114139992","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 : 2013-10-01DOI: 10.1109/ICOSC.2013.6750916
A. Adamou-Mitiche, L. Mitiche, Samira Larbi
In this paper, we use a reduced order model based on a model frequency representation, factor division and an error criterion. We show from the input-output behavior (time and frequency analysis), the interesting properties of this approximate, mainly once we comparing it to several recent model reduction techniques. A criterion is used to well appreciate the distance judge how good is the proposed technique.
{"title":"Time and frequency approaches in the approximation problem: A comparative study","authors":"A. Adamou-Mitiche, L. Mitiche, Samira Larbi","doi":"10.1109/ICOSC.2013.6750916","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750916","url":null,"abstract":"In this paper, we use a reduced order model based on a model frequency representation, factor division and an error criterion. We show from the input-output behavior (time and frequency analysis), the interesting properties of this approximate, mainly once we comparing it to several recent model reduction techniques. A criterion is used to well appreciate the distance judge how good is the proposed technique.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117025657","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 : 2013-10-01DOI: 10.1109/ICOSC.2013.6750827
L. Saad Saoud, F. Rahmoune, V. Tourtchine, K. Baddari
In this paper, the fuzzy modeling technique is used to estimate the photovoltaic (PV) maximum power generation. The equivalent circuit parameters of a PV module essentially depend on solar irradiation and temperature. This dependence on environmental factors is investigated and it is shown that it is a nonlinear relationship that cannot be easily expressed by any analytical equation. Therefore, the fuzzy modeling technique is utilized to overcome these difficulties. The Gustafson-Kessel algorithm is used to obtain clusters of the dataset which produces the fuzzy rules to identify the nonlinear photovoltaic maximum power generation and the irradiation. The developed architectures can approximate the maximum power and predict the irradiance parameter. To demonstrate the feasibility and the performance of the proposed architectures, several simulation results have been presented.
{"title":"On the fuzzy modeling based estimation of maximum power generation from photovoltaic module","authors":"L. Saad Saoud, F. Rahmoune, V. Tourtchine, K. Baddari","doi":"10.1109/ICOSC.2013.6750827","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750827","url":null,"abstract":"In this paper, the fuzzy modeling technique is used to estimate the photovoltaic (PV) maximum power generation. The equivalent circuit parameters of a PV module essentially depend on solar irradiation and temperature. This dependence on environmental factors is investigated and it is shown that it is a nonlinear relationship that cannot be easily expressed by any analytical equation. Therefore, the fuzzy modeling technique is utilized to overcome these difficulties. The Gustafson-Kessel algorithm is used to obtain clusters of the dataset which produces the fuzzy rules to identify the nonlinear photovoltaic maximum power generation and the irradiation. The developed architectures can approximate the maximum power and predict the irradiance parameter. To demonstrate the feasibility and the performance of the proposed architectures, several simulation results have been presented.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"235 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122910954","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 : 2013-10-01DOI: 10.1109/ICOSC.2013.6750939
I. Ouachani, A. Rabhi, A. El Hajjaji, B. Tidhaf, S. Zouggar
This paper deals with the robust control of DC motor based on photovoltaic pumping system. We will use in this work the tools of nonlinear control to increase the yield of a photovoltaic panel and therefore the amount of water pumped. Maximum point tracking an algorithm using Perturb and Observe method with array voltage and current is used to generate the voltage reference which should be the PV panel's operating voltage to get maximum available power. The system is represented into a Takagi-Sugeno (T-S) fuzzy model. Then, the concept of Robust Parallel Distributed Compensation (PDC) is applied to design the control law. The PV current is considered as an exogenous input, and included in an uncertain matrix whose influence on the regulation error is minimized. This means that overall stability analysis is carried out when disturbance is taken into consideration. Control gains are then obtained by solving some set of linear matrix inequalities (LMIs).
{"title":"A robust control method for a DC motor-based photovoltaic pumping","authors":"I. Ouachani, A. Rabhi, A. El Hajjaji, B. Tidhaf, S. Zouggar","doi":"10.1109/ICOSC.2013.6750939","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750939","url":null,"abstract":"This paper deals with the robust control of DC motor based on photovoltaic pumping system. We will use in this work the tools of nonlinear control to increase the yield of a photovoltaic panel and therefore the amount of water pumped. Maximum point tracking an algorithm using Perturb and Observe method with array voltage and current is used to generate the voltage reference which should be the PV panel's operating voltage to get maximum available power. The system is represented into a Takagi-Sugeno (T-S) fuzzy model. Then, the concept of Robust Parallel Distributed Compensation (PDC) is applied to design the control law. The PV current is considered as an exogenous input, and included in an uncertain matrix whose influence on the regulation error is minimized. This means that overall stability analysis is carried out when disturbance is taken into consideration. Control gains are then obtained by solving some set of linear matrix inequalities (LMIs).","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129476539","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 : 2013-10-01DOI: 10.1109/ICOSC.2013.6750918
Saidi Sief Ali, A. Pruski, B. Abdelhak
The study of vehicle navigation in constrained space depends on both the mobile base and on the assigned task. However, it always leads to considering the problem in term of path finding in the admissible space. In this paper, we demonstrate the existence of a feasible trajectory for person on wheelchair during the assessment of accessibility of habitat. The objective is to evaluate the accessibility to the mobility and to the reachability. The calculation of the trajectory for a person in wheelchair is not necessary because he/she always executes a trajectory that seems to him the most comfortable. According to that, we just prove the existence of at least one feasible trajectory for wheelchair.
{"title":"Feasible trajectory for person on wheelchair to assess the accessibility to the mobility and to the reachability","authors":"Saidi Sief Ali, A. Pruski, B. Abdelhak","doi":"10.1109/ICOSC.2013.6750918","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750918","url":null,"abstract":"The study of vehicle navigation in constrained space depends on both the mobile base and on the assigned task. However, it always leads to considering the problem in term of path finding in the admissible space. In this paper, we demonstrate the existence of a feasible trajectory for person on wheelchair during the assessment of accessibility of habitat. The objective is to evaluate the accessibility to the mobility and to the reachability. The calculation of the trajectory for a person in wheelchair is not necessary because he/she always executes a trajectory that seems to him the most comfortable. According to that, we just prove the existence of at least one feasible trajectory for wheelchair.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129714129","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 : 2013-10-01DOI: 10.1109/ICOSC.2013.6750949
Bouarroudj Noureddine, Boukhetala Djamel, F. Boudjema
In this paper, a robust fuzzy fractional order sliding mode controller (FFOSMC) for nonlinear systems is studied. Firstly a sliding PIα Dα surface is proposed, and the control law is designed. In order to reduce the chattering phenomenon in sliding mode control (SMC), a Takagi-Sugeno fuzzy logic controller is used to replace the discontinuity in the signum function, and to ensure optimal performance in the closed loop system, the PSO algorithm is used. Finally the effectiveness of the proposed approach of FFOSMC-based PSO algorithm is demonstrated by simulation results with an inverted pendulum and chaotic system.
{"title":"Tuning fuzzy fractional order PID sliding-mode controller using PSO algorithm for nonlinear systems","authors":"Bouarroudj Noureddine, Boukhetala Djamel, F. Boudjema","doi":"10.1109/ICOSC.2013.6750949","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750949","url":null,"abstract":"In this paper, a robust fuzzy fractional order sliding mode controller (FFOSMC) for nonlinear systems is studied. Firstly a sliding PIα Dα surface is proposed, and the control law is designed. In order to reduce the chattering phenomenon in sliding mode control (SMC), a Takagi-Sugeno fuzzy logic controller is used to replace the discontinuity in the signum function, and to ensure optimal performance in the closed loop system, the PSO algorithm is used. Finally the effectiveness of the proposed approach of FFOSMC-based PSO algorithm is demonstrated by simulation results with an inverted pendulum and chaotic system.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129982467","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 : 2013-10-01DOI: 10.1109/ICOSC.2013.6750874
Y. Massaoudi, T. Damak, J. Gaubert, D. Mehdi
This paper presents a new form of a non linear sliding surface with “optimal” parameters in order to have a suitable sliding mode controller for a DC-DC boost converter. A comparison between the proposed sliding surface (PSS) and the sliding surface proposed in [7] is done to test the effectiveness of the two forms.
{"title":"Sliding mode control of a boost converter using a non linear sliding surface","authors":"Y. Massaoudi, T. Damak, J. Gaubert, D. Mehdi","doi":"10.1109/ICOSC.2013.6750874","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750874","url":null,"abstract":"This paper presents a new form of a non linear sliding surface with “optimal” parameters in order to have a suitable sliding mode controller for a DC-DC boost converter. A comparison between the proposed sliding surface (PSS) and the sliding surface proposed in [7] is done to test the effectiveness of the two forms.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127768384","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 : 2013-10-01DOI: 10.1109/ICOSC.2013.6750937
M. Velasco, P. Martí, Antonio Camacho, J. Miret, M. Castilla
Reactive power control methods have been proven to be a successful technique for maintaining voltages of photovoltaic (PV) distributed generators (DG) within the admissible limits without enforcing to reduce the production of active power. Usually the control goal is achieved at the expenses of stressing PV inverters unequally. As a consequence, inverters deteriorate at different velocities. This paper presents a mixed local and distributed control strategy that aims at balancing the effort posed by each inverter while achieving the control goal. The local control is a drop-like method that locates inverters' voltages within the permissible voltage levels. Simultaneously, the distributed control, making use of a communication infrastructure, is in charge of driving the DG system to the point where all connected inverters inject the same current, thus balancing the stress between them.
{"title":"Mixing local and distributed reactive power control for balancing inverters' effort in grid-connected photovoltaic systems","authors":"M. Velasco, P. Martí, Antonio Camacho, J. Miret, M. Castilla","doi":"10.1109/ICOSC.2013.6750937","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750937","url":null,"abstract":"Reactive power control methods have been proven to be a successful technique for maintaining voltages of photovoltaic (PV) distributed generators (DG) within the admissible limits without enforcing to reduce the production of active power. Usually the control goal is achieved at the expenses of stressing PV inverters unequally. As a consequence, inverters deteriorate at different velocities. This paper presents a mixed local and distributed control strategy that aims at balancing the effort posed by each inverter while achieving the control goal. The local control is a drop-like method that locates inverters' voltages within the permissible voltage levels. Simultaneously, the distributed control, making use of a communication infrastructure, is in charge of driving the DG system to the point where all connected inverters inject the same current, thus balancing the stress between them.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"59 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120890823","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 : 2013-10-01DOI: 10.1109/ICOSC.2013.6750940
M. Davarifar, A. Rabhi, A. El Hajjaji, M. Dahmane
This research is presented a new algorithm and method for fault detection of photovoltaic panels in Residential Photovoltaic System (RPS). Our proposed PV performance diagnosis system is consist of two parts, passive and active part. In the passive diagnosis part, residue value is generated with Model Base Fault Diagnosis (MBFD) method to observe clear alarm signal from arbitrary data. As well, statistical method such as Wald test technique is used to detect primary alarm in passive part. After observing the clear alarm signal, flash test is applied for investigating closer scrutiny of I-V characteristic to determine different type of faults (active part). This proposed Simple Flash Test Driver (FTD) device could be integrated in the modern inverters in order to increase the efficiency and reliability of the RPS without increasing any additional cost of materials and device in commercial DC/DC inverter.
提出了一种用于住宅光伏系统中光伏板故障检测的新算法和方法。本文提出的光伏性能诊断系统由被动和主动两部分组成。在被动诊断部分，利用MBFD (Model Base Fault diagnosis)方法生成残差值，从任意数据中观察到清晰的报警信号。并采用Wald试验技术等统计方法检测被动部分的主报警。观察到清晰的报警信号后，采用闪变试验对I-V特性进行更仔细的检查，以确定不同类型的故障(活动部分)。本文提出的简单闪存测试驱动(FTD)器件可以集成在现代逆变器中，以提高RPS的效率和可靠性，而不会增加商用DC/DC逆变器中任何额外的材料和器件成本。
{"title":"New method for fault detection of PV panels in domestic applications","authors":"M. Davarifar, A. Rabhi, A. El Hajjaji, M. Dahmane","doi":"10.1109/ICOSC.2013.6750940","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750940","url":null,"abstract":"This research is presented a new algorithm and method for fault detection of photovoltaic panels in Residential Photovoltaic System (RPS). Our proposed PV performance diagnosis system is consist of two parts, passive and active part. In the passive diagnosis part, residue value is generated with Model Base Fault Diagnosis (MBFD) method to observe clear alarm signal from arbitrary data. As well, statistical method such as Wald test technique is used to detect primary alarm in passive part. After observing the clear alarm signal, flash test is applied for investigating closer scrutiny of I-V characteristic to determine different type of faults (active part). This proposed Simple Flash Test Driver (FTD) device could be integrated in the modern inverters in order to increase the efficiency and reliability of the RPS without increasing any additional cost of materials and device in commercial DC/DC inverter.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120954974","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 : 2013-10-01DOI: 10.1109/ICOSC.2013.6750973
A. Brahmi, M. Saad, G. Gauthier, Wen-Hong Zhu, J. Ghommam
This paper presents a nonlinear control scheme for a hyper redundant articulated nimble adaptable trunk (ANAT) robot subject to spatial constraints based on virtual decomposition control (VDC). The control strategy was tested on ANAT robot to track a desired trajectory in the workspace space. The pseudo-inverse jacobian matrix is used to transform the rectangle trajectory generated in the workspace to the joints space. The trajectory tracking of seven degrees of freedom robot manipulator is converted to that of each link and that of each joint, respectively. The applicability of the proposed scheme is illustrated in real time validation. The experimental results show the effectiveness of the VDC approach.
{"title":"Real time control of ANAT robot manipulator using virtual decomposition approach","authors":"A. Brahmi, M. Saad, G. Gauthier, Wen-Hong Zhu, J. Ghommam","doi":"10.1109/ICOSC.2013.6750973","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750973","url":null,"abstract":"This paper presents a nonlinear control scheme for a hyper redundant articulated nimble adaptable trunk (ANAT) robot subject to spatial constraints based on virtual decomposition control (VDC). The control strategy was tested on ANAT robot to track a desired trajectory in the workspace space. The pseudo-inverse jacobian matrix is used to transform the rectangle trajectory generated in the workspace to the joints space. The trajectory tracking of seven degrees of freedom robot manipulator is converted to that of each link and that of each joint, respectively. The applicability of the proposed scheme is illustrated in real time validation. The experimental results show the effectiveness of the VDC approach.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"437 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116737874","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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