Pub Date : 2013-10-01DOI: 10.1109/ICOSC.2013.6750867
Hanene Bekkouche, A. Charef
In this paper, an application of fractional order PIλDμ controller to an automatic voltage regulator is presented. The design strategy is drawn up such that the closed loop transfer function of the automatic voltage regulator system depends on the irrational function Gd1(s) = K0/(τ0s)2m + 2ξ(τ0s)m +1. Formulae for the calculation of the five tuning parameters of the PIλDμ controller are given. Simulations are made to show the automatic voltage regulator system frequency and time responses.
{"title":"Analytical parameters tuning of the fractional PIλDμ controller for an automatic voltage regulator","authors":"Hanene Bekkouche, A. Charef","doi":"10.1109/ICOSC.2013.6750867","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750867","url":null,"abstract":"In this paper, an application of fractional order PI<sup>λ</sup>D<sup>μ</sup> controller to an automatic voltage regulator is presented. The design strategy is drawn up such that the closed loop transfer function of the automatic voltage regulator system depends on the irrational function G<sub>d1</sub>(s) = K<sub>0</sub>/(τ<sub>0</sub>s)<sup>2m</sup> + 2ξ(τ<sub>0</sub>s)<sup>m</sup> +1. Formulae for the calculation of the five tuning parameters of the PI<sup>λ</sup>D<sup>μ</sup> controller are given. Simulations are made to show the automatic voltage regulator system frequency and time responses.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"35 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":"131778372","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.2013.6750860
Karima Benzaid, N. Mansouri, O. Labbani-Igbida
In this paper, we present two control strategies of a quadrotor Unmanned Aerial Vehicle (UAV). The dynamics of the system is controlled to achieve a complex trajectory tracking. A controller using the integral backstepping is developed for the stabilization of the six degrees of freedom (6DoF) of the system. Furthermore, we propose a hybrid strategy by combining the integral backstepping and the PID linear controller. For this, we divide the dynamic system into two subsystems; each one with 3DoF. For the stabilization of the rotational dynamics, the PID controller is proposed. The Integral Backstepping is applied for the longitudinal, lateral and vertical position stabilization. Finally, some numerical simulations are conducted to illustrate the robustness of both strategies.
{"title":"Robust trajectory tracking control of a quadrotor UAV","authors":"Karima Benzaid, N. Mansouri, O. Labbani-Igbida","doi":"10.1109/ICOSC.2013.6750860","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750860","url":null,"abstract":"In this paper, we present two control strategies of a quadrotor Unmanned Aerial Vehicle (UAV). The dynamics of the system is controlled to achieve a complex trajectory tracking. A controller using the integral backstepping is developed for the stabilization of the six degrees of freedom (6DoF) of the system. Furthermore, we propose a hybrid strategy by combining the integral backstepping and the PID linear controller. For this, we divide the dynamic system into two subsystems; each one with 3DoF. For the stabilization of the rotational dynamics, the PID controller is proposed. The Integral Backstepping is applied for the longitudinal, lateral and vertical position stabilization. Finally, some numerical simulations are conducted to illustrate the robustness of both strategies.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"7 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":"134197579","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.2013.6750934
P. Dai, S. Cauet, P. Coirault
A Hybrid Electric Vehicle (HEV) is mainly composed of an Internal Combustion Engine (ICE) and an electrical machine. This electrical machine is connected to the DC power sources through an AC/DC inverter and DC/DC converters. Other than being used as a secondary source of the propulsion, this electrical machine together with the other electrical parts, may work as an “active flywheel” to compensate the torque ripples generated by ICE. These ripples are then “transferred” to the DC bus. A hybrid DC power source with battery as the main power and supercapacitor as the auxiliary power is explored in this paper. The DC part is modeled as a hybrid DC power source system with sinusoidal external current. Being different from other works where supercapacitors work as a rapid supplementary power during transient energy delivery or transient energy recovery, the supercapacitor studied here is used to absorb the consistent sinusoidal harmonic in the DC bus. Nonlinear control strategies are employed to achieve the objectives: Passivity-Based Control (PBC) is used to control the battery side bi-direction DC/DC converter to maintain the main power in the DC bus, and Sliding Mode Control (SMC) is applied to control the supercapacitor side bi-direction DC/DC converter to absorb the harmonic.
{"title":"Passivity-based control and Sliding Mode Control of hybrid DC power source applied to Hybrid Electric Vehicles","authors":"P. Dai, S. Cauet, P. Coirault","doi":"10.1109/ICOSC.2013.6750934","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750934","url":null,"abstract":"A Hybrid Electric Vehicle (HEV) is mainly composed of an Internal Combustion Engine (ICE) and an electrical machine. This electrical machine is connected to the DC power sources through an AC/DC inverter and DC/DC converters. Other than being used as a secondary source of the propulsion, this electrical machine together with the other electrical parts, may work as an “active flywheel” to compensate the torque ripples generated by ICE. These ripples are then “transferred” to the DC bus. A hybrid DC power source with battery as the main power and supercapacitor as the auxiliary power is explored in this paper. The DC part is modeled as a hybrid DC power source system with sinusoidal external current. Being different from other works where supercapacitors work as a rapid supplementary power during transient energy delivery or transient energy recovery, the supercapacitor studied here is used to absorb the consistent sinusoidal harmonic in the DC bus. Nonlinear control strategies are employed to achieve the objectives: Passivity-Based Control (PBC) is used to control the battery side bi-direction DC/DC converter to maintain the main power in the DC bus, and Sliding Mode Control (SMC) is applied to control the supercapacitor side bi-direction DC/DC converter to absorb the harmonic.","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":"115581234","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.2013.6750906
A. Khoudiri, Kamel GUESMI, A. Hamzaoui, N. Essounbouli, D. Mahi
Sliding mode control (SMC) is well known for its robustness and efficiency to deal with a wide range of control problems with nonlinear dynamics such as DC-DC power converters. In this paper, an optimized and fixed switching frequency sliding-mode policy for controlling DC-DC converters is proposed. There are two main contributions, in this paper; in the first we give a comprehensive proof of the SMC technique based on the converter functioning principle. In the second contribution, we provide a method of SMC parameters selection using simplex method. This allows obtaining the admissible ranges for SMC parameters while taking into account particle considerations about the converter. Then, theses ranges will be used as search space by the particle swarm optimization technique (PSO) to find the optimal controller parameters.
{"title":"Optimized sliding mode control for DC-DC converters using simplex-PSO techniques","authors":"A. Khoudiri, Kamel GUESMI, A. Hamzaoui, N. Essounbouli, D. Mahi","doi":"10.1109/ICOSC.2013.6750906","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750906","url":null,"abstract":"Sliding mode control (SMC) is well known for its robustness and efficiency to deal with a wide range of control problems with nonlinear dynamics such as DC-DC power converters. In this paper, an optimized and fixed switching frequency sliding-mode policy for controlling DC-DC converters is proposed. There are two main contributions, in this paper; in the first we give a comprehensive proof of the SMC technique based on the converter functioning principle. In the second contribution, we provide a method of SMC parameters selection using simplex method. This allows obtaining the admissible ranges for SMC parameters while taking into account particle considerations about the converter. Then, theses ranges will be used as search space by the particle swarm optimization technique (PSO) to find the optimal controller parameters.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"2 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114121988","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.2013.6750923
F. Hamdi, N. Messai, N. Manamanni
This paper presents a method to synthesize observer for switched linear systems described by differential Petri nets models. Conditions ensuring the convergence of the estimation errors are given based on the minimum dwell time of subsystems. In addition, this method guarantee the exponentially convergence using the D-stability approach. The design of such observer is formulated in linear matrix inequalities (LMI) terms.
{"title":"State estimation for switched systems described by differential Petri nets models","authors":"F. Hamdi, N. Messai, N. Manamanni","doi":"10.1109/ICOSC.2013.6750923","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750923","url":null,"abstract":"This paper presents a method to synthesize observer for switched linear systems described by differential Petri nets models. Conditions ensuring the convergence of the estimation errors are given based on the minimum dwell time of subsystems. In addition, this method guarantee the exponentially convergence using the D-stability approach. The design of such observer is formulated in linear matrix inequalities (LMI) terms.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"181 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":"114384938","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.2013.6750908
H. Boubertakh, S. Bencharef, S. Labiod
In this paper, we propose a Particle Swarm Optimization (PSO) method to design decentralized PID controllers. The proposed method is used for the stabilization of a quadrotor. That is, without loss of generality, four decentralized PD controllers are used in order to stabilize the quadrotor angles and height. A PSO algorithm is used to tune simultaneously the parameters of the four controllers against a square error (SE) cost function which quantifies the whole system performance compared to its desired behavior. Some simulation results are presented to show the efficiency of the method.
{"title":"PSO-based PID control design for the stabilization of a quadrotor","authors":"H. Boubertakh, S. Bencharef, S. Labiod","doi":"10.1109/ICOSC.2013.6750908","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750908","url":null,"abstract":"In this paper, we propose a Particle Swarm Optimization (PSO) method to design decentralized PID controllers. The proposed method is used for the stabilization of a quadrotor. That is, without loss of generality, four decentralized PD controllers are used in order to stabilize the quadrotor angles and height. A PSO algorithm is used to tune simultaneously the parameters of the four controllers against a square error (SE) cost function which quantifies the whole system performance compared to its desired behavior. Some simulation results are presented to show the efficiency of the method.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"34 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":"125184753","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.2013.6750932
M. E. Achhab
Controllability analysis and the determination of the reachable states for a nonlinear model of plug flow non-isothermal reactors with control constraints are investigated. The main results reduce this problem to the determination of the reachable states, by means of admissible controls, for the approximate linear systems. The approach is developed using a state space system framework and is based on the application of a result from coincidence of the topological degree theory. The paper also gives a procedure to generate an admissible control which steers the system to a reachable desired state.
{"title":"Controllability analysis of plug flow nonisothermal reactors using a nonlinear model","authors":"M. E. Achhab","doi":"10.1109/ICOSC.2013.6750932","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750932","url":null,"abstract":"Controllability analysis and the determination of the reachable states for a nonlinear model of plug flow non-isothermal reactors with control constraints are investigated. The main results reduce this problem to the determination of the reachable states, by means of admissible controls, for the approximate linear systems. The approach is developed using a state space system framework and is based on the application of a result from coincidence of the topological degree theory. The paper also gives a procedure to generate an admissible control which steers the system to a reachable desired state.","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":"130097106","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.2013.6750976
M. Dehbi, Z. Ahmed Foitih
In the field of Man-Machine interaction, gestural communication is expected to play a more and more important role due to its direct, natural character and its many potential uses. Our work has been chosen in the same context as robots control through gestural interfaces specifically using hand gesture. This article presents the different steps in the design of such a gestural servoing system, starting with hand gesture recognition through its interpretation in order to manipulate the Mentor robot (virtual and real), in real time. This gesture recognition system encompasses gesture acquisition, segmentation and identification using principal component analysis. Once the gesture has been recognized, it is operated to control the robot using two techniques: articular command and operational command.
{"title":"Designing a gestural interface for Mentor robot control","authors":"M. Dehbi, Z. Ahmed Foitih","doi":"10.1109/ICOSC.2013.6750976","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750976","url":null,"abstract":"In the field of Man-Machine interaction, gestural communication is expected to play a more and more important role due to its direct, natural character and its many potential uses. Our work has been chosen in the same context as robots control through gestural interfaces specifically using hand gesture. This article presents the different steps in the design of such a gestural servoing system, starting with hand gesture recognition through its interpretation in order to manipulate the Mentor robot (virtual and real), in real time. This gesture recognition system encompasses gesture acquisition, segmentation and identification using principal component analysis. Once the gesture has been recognized, it is operated to control the robot using two techniques: articular command and operational command.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"36 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":"129454973","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.2013.6750928
Markus Guldenschuh
The Filtered-x-Least-Mean-Square (FxLMS) is an efficient algorithm for active-noise-control-headphones. It relies on a correct model Ŝ of the secondary-path S which, in the case of headphones, is above all determined by the acoustic path from the loudspeaker to the error-microphone. If the headphones are abruptly lifted or put on, the phase of S changes more than 90° and the formerly correct model Ŝ will suddenly be wrong and the FxLMS might diverge. This paper presents three methods how the divergence of the FxLMS can be avoided. All three methods rely on laboratory measurements under different conditions from tight headphones to completely lifted headphones. First, it is shown how a stable secondary-path model can be derived from the phase information of the measurements. For the second and third method, two secondary-path models are implemented. One for the tight use case and one for the lifted headphones. The current state of the secondary-path is then detected either via an online noise-cancelling-analysis or via an infrasonic test-signal. Comparison with existing approaches shows the robust stability and efficiency of the proposed methods.
{"title":"Secondary-path models in adaptive-noise-control headphones","authors":"Markus Guldenschuh","doi":"10.1109/ICOSC.2013.6750928","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750928","url":null,"abstract":"The Filtered-x-Least-Mean-Square (FxLMS) is an efficient algorithm for active-noise-control-headphones. It relies on a correct model Ŝ of the secondary-path S which, in the case of headphones, is above all determined by the acoustic path from the loudspeaker to the error-microphone. If the headphones are abruptly lifted or put on, the phase of S changes more than 90° and the formerly correct model Ŝ will suddenly be wrong and the FxLMS might diverge. This paper presents three methods how the divergence of the FxLMS can be avoided. All three methods rely on laboratory measurements under different conditions from tight headphones to completely lifted headphones. First, it is shown how a stable secondary-path model can be derived from the phase information of the measurements. For the second and third method, two secondary-path models are implemented. One for the tight use case and one for the lifted headphones. The current state of the secondary-path is then detected either via an online noise-cancelling-analysis or via an infrasonic test-signal. Comparison with existing approaches shows the robust stability and efficiency of the proposed methods.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"11 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":"128864761","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.2013.6750851
Mourad Loucif, A. Boumédiène, A. Mechernene
This paper presents the nonlinear control strategy for high performance doubly fed induction generator driven by wind turbine. In the DFIG topology the stator is connected direct to the grid while the rotor is connected to a back-to-back converter. A simple and general space vector PWM algorithm is proposed. First, we propose a modeling of wind turbine and DFIG in the dq reference frame. Next, a field oriented control for controlling independently the active and reactive power is implemented. This control strategy is developed and tested by synthesizing two types of controllers: a classic controller Proportional and Integral (PI) and a non linear type controller backstepping. Their performances are evaluated and compared in terms of power set point tracking, sensitivity to disturbance, robustness with respect to sudden changes in speed and robustness with respect to parameters variation.
{"title":"Backstepping control of double fed induction generator driven by wind turbine","authors":"Mourad Loucif, A. Boumédiène, A. Mechernene","doi":"10.1109/ICOSC.2013.6750851","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750851","url":null,"abstract":"This paper presents the nonlinear control strategy for high performance doubly fed induction generator driven by wind turbine. In the DFIG topology the stator is connected direct to the grid while the rotor is connected to a back-to-back converter. A simple and general space vector PWM algorithm is proposed. First, we propose a modeling of wind turbine and DFIG in the dq reference frame. Next, a field oriented control for controlling independently the active and reactive power is implemented. This control strategy is developed and tested by synthesizing two types of controllers: a classic controller Proportional and Integral (PI) and a non linear type controller backstepping. Their performances are evaluated and compared in terms of power set point tracking, sensitivity to disturbance, robustness with respect to sudden changes in speed and robustness with respect to parameters variation.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"29 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":"126114167","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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