Pub Date : 2013-10-01DOI: 10.1109/ICOSC.2013.6750975
Mohamed Boukens, A. Boukabou
Motion control systems play an important role in industrial engineering applications. Until know, Proportional-Derivative (PD) controllers are still the most popular controller used in industrial control systems due to their simplicity and also satisfactory performances. However, since the PD controller is developed based on the linear control theory, the controller gives inconsistent performance for different condition. In order to overcome this problem, PD with Fuzzy compensator control is proposed for trajectory tracking problems of robotic manipulators. The effectiveness of the proposed method is evaluated experimentally in real time using an experimental two degrees-of-freedom robot manipulator. It is confirmed that the proposed system is better than classical PD controller in terms of tracking performance.
{"title":"PD with fuzzy compensator control of robot manipulators: Experimental study","authors":"Mohamed Boukens, A. Boukabou","doi":"10.1109/ICOSC.2013.6750975","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750975","url":null,"abstract":"Motion control systems play an important role in industrial engineering applications. Until know, Proportional-Derivative (PD) controllers are still the most popular controller used in industrial control systems due to their simplicity and also satisfactory performances. However, since the PD controller is developed based on the linear control theory, the controller gives inconsistent performance for different condition. In order to overcome this problem, PD with Fuzzy compensator control is proposed for trajectory tracking problems of robotic manipulators. The effectiveness of the proposed method is evaluated experimentally in real time using an experimental two degrees-of-freedom robot manipulator. It is confirmed that the proposed system is better than classical PD controller in terms of tracking performance.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"2 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":"126079347","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}
S. Stojanovic, D. Debeljkovic, T. Nestorović, D. Antić
In this paper, we consider the problem of finite-time stability for a class of linear singular time-delay systems. New delay dependent stability conditions have been derived using the approach based on the Lyapunov-like functions and their properties on the subspace of consistent initial conditions. The stability conditions are presented in the form of linear matrix inequalities. A numerical example has been provided to show the advantage of derived results.
{"title":"Further results on stability of singular time delay systems in the sense of non-Lyapunov: A new delay dependent conditions","authors":"S. Stojanovic, D. Debeljkovic, T. Nestorović, D. Antić","doi":"10.12691/ACIS-2-1-3","DOIUrl":"https://doi.org/10.12691/ACIS-2-1-3","url":null,"abstract":"In this paper, we consider the problem of finite-time stability for a class of linear singular time-delay systems. New delay dependent stability conditions have been derived using the approach based on the Lyapunov-like functions and their properties on the subspace of consistent initial conditions. The stability conditions are presented in the form of linear matrix inequalities. A numerical example has been provided to show the advantage of derived results.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"550 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":"114081877","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.2013.6750893
M. Bahloul, M. Souissi, M. Chaabane, L. Chrifi-Alaoui
This paper proposes a Takagi Sugeno (TS) fuzzy field observer in a rotor-flux-oriented reference frame. The proposed approach dealt with the conventional Direct Rotor Field Oriented Control (DRFOC) in a high speed application. The main aims are to provide new methods to observe the flux in same reference frame as the controller. In the initial development, we propose a TS model for the induction machine. Later, a TS fuzzy full order observer is described. Then a stability and a D-stability analysis are presented to proof in the first time, the stability and to garret in the second time, some dynamic behaviour for the observer through the Lyapunov theory. The proposed results are based on LMIs terms (Linear Matrix Inequalities) which can be solved easily using Matlab tools. A numerical example is provided to show the effectiveness of the proposed results.
{"title":"Takagi Sugeno fuzzy observer based Direct Rotor Field Oriented Control of induction machine","authors":"M. Bahloul, M. Souissi, M. Chaabane, L. Chrifi-Alaoui","doi":"10.1109/ICOSC.2013.6750893","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750893","url":null,"abstract":"This paper proposes a Takagi Sugeno (TS) fuzzy field observer in a rotor-flux-oriented reference frame. The proposed approach dealt with the conventional Direct Rotor Field Oriented Control (DRFOC) in a high speed application. The main aims are to provide new methods to observe the flux in same reference frame as the controller. In the initial development, we propose a TS model for the induction machine. Later, a TS fuzzy full order observer is described. Then a stability and a D-stability analysis are presented to proof in the first time, the stability and to garret in the second time, some dynamic behaviour for the observer through the Lyapunov theory. The proposed results are based on LMIs terms (Linear Matrix Inequalities) which can be solved easily using Matlab tools. A numerical example is provided to show the effectiveness of the proposed results.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"24 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":"120891397","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.2013.6750947
Hanane Bouchareb, S. Semcheddine
The sensors can be very expensive and their integration very complex in certain industrial processes. The greatnesses not measured estimated by means of observers are going to allow us to reduce the production cost by avoiding us placing sensors. In the linear case the observability is classically determined by a condition of rank and the observers for such systems are generally of type Luenberger, on the other hand in the not linear case, the observability is determined of multiple manners but the classic thought drives to a condition of rank with small arrangements. In the nonlinear case the used observers can be nonlinear sliding mode observers used in our application to estimate the speed and the position of the synchronous machine with permanent magnets.
{"title":"Sliding mode observer for the synchronous machine with permanent magnets","authors":"Hanane Bouchareb, S. Semcheddine","doi":"10.1109/ICOSC.2013.6750947","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750947","url":null,"abstract":"The sensors can be very expensive and their integration very complex in certain industrial processes. The greatnesses not measured estimated by means of observers are going to allow us to reduce the production cost by avoiding us placing sensors. In the linear case the observability is classically determined by a condition of rank and the observers for such systems are generally of type Luenberger, on the other hand in the not linear case, the observability is determined of multiple manners but the classic thought drives to a condition of rank with small arrangements. In the nonlinear case the used observers can be nonlinear sliding mode observers used in our application to estimate the speed and the position of the synchronous machine with permanent magnets.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"254 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":"115952869","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.2013.6750955
S. Sana, Hamerlain Mustapha, T. Mohamed
This paper presents a new visual control approach based on homography. The control law is designed for nonholonomic vehicles with a fixed monocular system on board. The method uses a homography measured from the reference image and the current image in the feedback control law. The idea of the visual control used here is the usual approach where the desired position of the robot is given by a target image taken at that position. When starting from an unknown position the control law uses the feedback from the camera to move the robot towards this target image plane which is the only previous information needed to position the robot at the desired position. The contribution is the fuzzy controller used as a visual feedback control that is an intelligent controller without needing neither the decomposition of the homography nor the depth estimation to the target.
{"title":"Homography-based visual control of nonholonomic vehicles: A new approach","authors":"S. Sana, Hamerlain Mustapha, T. Mohamed","doi":"10.1109/ICOSC.2013.6750955","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750955","url":null,"abstract":"This paper presents a new visual control approach based on homography. The control law is designed for nonholonomic vehicles with a fixed monocular system on board. The method uses a homography measured from the reference image and the current image in the feedback control law. The idea of the visual control used here is the usual approach where the desired position of the robot is given by a target image taken at that position. When starting from an unknown position the control law uses the feedback from the camera to move the robot towards this target image plane which is the only previous information needed to position the robot at the desired position. The contribution is the fuzzy controller used as a visual feedback control that is an intelligent controller without needing neither the decomposition of the homography nor the depth estimation to the target.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"50 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":"124895366","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.2013.6750884
M. Bouteldja, V. Cerezo
This paper proposes a new method for truck rollover prediction based on simple driving situation models. The traditional methods for rollover prediction generally use complete truck models. Nevertheless, rollover situations are not tripped in some cases because of uncertainties on the model parameters, which entail serious safety threat for trucks drivers. The multi-model approach (every driving situation is represented by a simplified model) can be an alternative to reduce the complexity of truck models and at the same time to focus on the request dynamics. Whatever the situation considered, the unknown dynamic state is reconstructed by using sliding mode observation technique. The computed information leads to detect rollover risky situation on the basis of a criterion. The performance of the method developed is evaluated by simulation. The simulation results are compared to a commercial simulator of truck dynamic (PROSPER).
{"title":"An advanced methodology for truck rollover prediction based on driving situation model","authors":"M. Bouteldja, V. Cerezo","doi":"10.1109/ICOSC.2013.6750884","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750884","url":null,"abstract":"This paper proposes a new method for truck rollover prediction based on simple driving situation models. The traditional methods for rollover prediction generally use complete truck models. Nevertheless, rollover situations are not tripped in some cases because of uncertainties on the model parameters, which entail serious safety threat for trucks drivers. The multi-model approach (every driving situation is represented by a simplified model) can be an alternative to reduce the complexity of truck models and at the same time to focus on the request dynamics. Whatever the situation considered, the unknown dynamic state is reconstructed by using sliding mode observation technique. The computed information leads to detect rollover risky situation on the basis of a criterion. The performance of the method developed is evaluated by simulation. The simulation results are compared to a commercial simulator of truck dynamic (PROSPER).","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"50 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":"122677631","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.2013.6750832
M. Regaieg, Othman Nasri, P. Dague
In this paper a model-based FDI approach is proposed to achieve both fault detection and isolation of a spacecraft thrusters during the rendezvous phase of the Mars Sample Return (MSR) mission. To estimate the relationships between the various variable of the process, the principal component analysis (PCA) is adopted. To affirm the feasibility of the proposed FDI approach, historical data set representing the opening rates of the spacecraft thrusters are considered. Tests results demonstrate that detection and isolation of single faults are successfully accomplished.
{"title":"Fault detection and isolation of spacecraft thrusters by using principal component analysis","authors":"M. Regaieg, Othman Nasri, P. Dague","doi":"10.1109/ICOSC.2013.6750832","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750832","url":null,"abstract":"In this paper a model-based FDI approach is proposed to achieve both fault detection and isolation of a spacecraft thrusters during the rendezvous phase of the Mars Sample Return (MSR) mission. To estimate the relationships between the various variable of the process, the principal component analysis (PCA) is adopted. To affirm the feasibility of the proposed FDI approach, historical data set representing the opening rates of the spacecraft thrusters are considered. Tests results demonstrate that detection and isolation of single faults are successfully accomplished.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"330 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":"122839559","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.2013.6750995
B. Boukezata, A. Chaoui, J. Gaubert, M. Hachemi
This paper proposes the effective utilization of active power filter (APF) for interconnecting the PV modules to the grid using direct power control (DPC) method. Its main feature is the capability to compensate the reactive power and harmonic currents drawn by nonlinear loads and simultaneously inject the maximum power available from the PV array into the grid. The reference current containing PV maximum power and harmonic components is developed based on direct power control via an integral-proportional (IP) controller, exploiting optimal solar energy was extracted by an algorithm of maximization MPPT is the INC-COND. The whole system (single stage converter) presents increased efficiency when compared to the conventional system. Simulation results on MATLAB/Simulink of the proposed system have been done and the obtained results prove the effectiveness of using a shunt active power filter as the interfacing unit for grid integrated renewable energy system.
{"title":"Improvingthe qualityof energy in grid connected photovoltaicsystems","authors":"B. Boukezata, A. Chaoui, J. Gaubert, M. Hachemi","doi":"10.1109/ICOSC.2013.6750995","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750995","url":null,"abstract":"This paper proposes the effective utilization of active power filter (APF) for interconnecting the PV modules to the grid using direct power control (DPC) method. Its main feature is the capability to compensate the reactive power and harmonic currents drawn by nonlinear loads and simultaneously inject the maximum power available from the PV array into the grid. The reference current containing PV maximum power and harmonic components is developed based on direct power control via an integral-proportional (IP) controller, exploiting optimal solar energy was extracted by an algorithm of maximization MPPT is the INC-COND. The whole system (single stage converter) presents increased efficiency when compared to the conventional system. Simulation results on MATLAB/Simulink of the proposed system have been done and the obtained results prove the effectiveness of using a shunt active power filter as the interfacing unit for grid integrated renewable energy system.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"108 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":"122916736","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.2013.6750959
A. Guendouzi, A. Hadj Larbi, M. Hamerlain, F. Guendouzi
In this paper, a mixed robust feedback linearization with a robust higher order sliding mode control structure is applied to a small-size autonomous helicopter in hover. In the present work, a traditional sliding mode control is presented, the robustness of the controller in the context of stabilization, is analytically proved using Lyapunov approach. In order to reduce the chattering in sliding mode controller (SMC) we used the higher order sliding mode control algorithm (Twisting algorithm). Some simulation results are presented to illustrate the performance and robustness of such controller in the presence of small body forces and air resistance.
{"title":"Higher order sliding mode control structure for a scale model autonomous helicopter","authors":"A. Guendouzi, A. Hadj Larbi, M. Hamerlain, F. Guendouzi","doi":"10.1109/ICOSC.2013.6750959","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750959","url":null,"abstract":"In this paper, a mixed robust feedback linearization with a robust higher order sliding mode control structure is applied to a small-size autonomous helicopter in hover. In the present work, a traditional sliding mode control is presented, the robustness of the controller in the context of stabilization, is analytically proved using Lyapunov approach. In order to reduce the chattering in sliding mode controller (SMC) we used the higher order sliding mode control algorithm (Twisting algorithm). Some simulation results are presented to illustrate the performance and robustness of such controller in the presence of small body forces and air resistance.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"9 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":"133562705","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.2013.6750935
H. Afghoul, F. Krim, D. Chikouche, A. Beddar, B. Babes
This paper deals with implementation of Direct Power Control (DPC) using conventional PI controller applied to shunt active filters (SAPFs) using new parameters. The PI controller regulates the DC-link voltage, active and reactive power-flows of the power filter. The steady state and dynamic behavior are presented and illustrate the operation and the performance of the system. Simulation and experiment results have proven the efficiency of standard DPC strategies. Thanks to its high level of power quality even the use of low distorted voltage source.
{"title":"Implementation of Direct Power Control for shunt active power filter","authors":"H. Afghoul, F. Krim, D. Chikouche, A. Beddar, B. Babes","doi":"10.1109/ICOSC.2013.6750935","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750935","url":null,"abstract":"This paper deals with implementation of Direct Power Control (DPC) using conventional PI controller applied to shunt active filters (SAPFs) using new parameters. The PI controller regulates the DC-link voltage, active and reactive power-flows of the power filter. The steady state and dynamic behavior are presented and illustrate the operation and the performance of the system. Simulation and experiment results have proven the efficiency of standard DPC strategies. Thanks to its high level of power quality even the use of low distorted voltage source.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"16 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":"134040070","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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