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.2013.6750923
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.2013.6750968
A. Nemra, S. Slimani, M. Bouhamidi, A. Bouchloukh, A. Bazoula
Laser scan-matching is frequently used for mobile robot mapping and localization. This paper presents a scan-matching approach, based, instead on visual information from a stereo system. The Speeded Up Robust Feature (SURF) is used together with optimization tools constraints to get high matching precision between the stereo images. Calculating the 3D position of the corresponding points in the world results in a visual scan where each point has a descriptor attached to it. These descriptors can be used to associate scans observed from different positions. Just like in the work with laser based scan matching a map can be defined as a set of reference scans and their corresponding acquisition point. In this paper a robust Visual odometry and 3D reconstruction algorithm based on Adaptive Iterative Closest SURF for scan matching is proposed. This algorithm combine the robustness of SURF to detect and match good features and the accuracy an Adaptive ICP algorithm in which, the 3D point are weighted with their inverse depth to give more importance for near points. The proposed algorithm is validated and compared with two other optimization techniques based on Singular Values Decomposition (SVD) and Quaternion. Experimental results using Pioneer 3AT demonstrate that our algorithm can work robustly in indoor and outdoor environments and produce accurate results in static environments.
{"title":"Adaptive Iterative Closest SURF for visual scan matching, application to Visual odometry","authors":"A. Nemra, S. Slimani, M. Bouhamidi, A. Bouchloukh, A. Bazoula","doi":"10.1109/ICOSC.2013.6750968","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750968","url":null,"abstract":"Laser scan-matching is frequently used for mobile robot mapping and localization. This paper presents a scan-matching approach, based, instead on visual information from a stereo system. The Speeded Up Robust Feature (SURF) is used together with optimization tools constraints to get high matching precision between the stereo images. Calculating the 3D position of the corresponding points in the world results in a visual scan where each point has a descriptor attached to it. These descriptors can be used to associate scans observed from different positions. Just like in the work with laser based scan matching a map can be defined as a set of reference scans and their corresponding acquisition point. In this paper a robust Visual odometry and 3D reconstruction algorithm based on Adaptive Iterative Closest SURF for scan matching is proposed. This algorithm combine the robustness of SURF to detect and match good features and the accuracy an Adaptive ICP algorithm in which, the 3D point are weighted with their inverse depth to give more importance for near points. The proposed algorithm is validated and compared with two other optimization techniques based on Singular Values Decomposition (SVD) and Quaternion. Experimental results using Pioneer 3AT demonstrate that our algorithm can work robustly in indoor and outdoor environments and produce accurate results in static environments.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"8 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":"134217089","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.2013.6750826
S. Nasser, R. Mekki
The segmentation of medical images is a new technology, rich and varied, but in which many existing methods are difficult to apply to real problems. In this work, we present a segmentation system for brain MRI images that is based on two approaches method “growth area” and “FCM” algorithm for each of these approaches, we will explain and illustrate their usefulness. The proposed system aims to improve the segmentation of brain images to classify the three components of the human brain matter in a clearer way in a multi-agent environment.
{"title":"Use of fuzzy logic for segmenting of brain images by multi-agent system","authors":"S. Nasser, R. Mekki","doi":"10.1109/ICoSC.2013.6750826","DOIUrl":"https://doi.org/10.1109/ICoSC.2013.6750826","url":null,"abstract":"The segmentation of medical images is a new technology, rich and varied, but in which many existing methods are difficult to apply to real problems. In this work, we present a segmentation system for brain MRI images that is based on two approaches method “growth area” and “FCM” algorithm for each of these approaches, we will explain and illustrate their usefulness. The proposed system aims to improve the segmentation of brain images to classify the three components of the human brain matter in a clearer way in a multi-agent environment.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"407 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":"133535306","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.2013.6750831
Aicha Zibra, S. Labiod, T. Guerra
In this paper, an indirect adaptive controller using fuzzy systems is presented for a class of uncertain single-input single-output nonlinear systems with input magnitude and rate saturation. The unknown system's nonlinearities are approximated by fuzzy systems whose parameters update laws are resulting from the standard Lyapunov synthesis method. Control law and adaptation algorithms are mainly modified to avoid the problems generally caused by saturation such as performance degrading and closed-loop instability. The stability analysis of the overall closed-loop system is performed using the Lyapunov direct method. A numerical simulation example is given to demonstrate the effectiveness of the proposed adaptive control approach.
{"title":"Stable adaptive fuzzy control for a class of uncertain nonlinear systems with input magnitude and rate saturation constraint","authors":"Aicha Zibra, S. Labiod, T. Guerra","doi":"10.1109/ICOSC.2013.6750831","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750831","url":null,"abstract":"In this paper, an indirect adaptive controller using fuzzy systems is presented for a class of uncertain single-input single-output nonlinear systems with input magnitude and rate saturation. The unknown system's nonlinearities are approximated by fuzzy systems whose parameters update laws are resulting from the standard Lyapunov synthesis method. Control law and adaptation algorithms are mainly modified to avoid the problems generally caused by saturation such as performance degrading and closed-loop instability. The stability analysis of the overall closed-loop system is performed using the Lyapunov direct method. A numerical simulation example is given to demonstrate the effectiveness of the proposed adaptive control approach.","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":"132127158","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.2013.6750934
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.2013.6750904
Abdenbi Mohand Ousaid, S. Haliyo, S. Régnier, V. Hayward
This paper describes a micro-force sensing device where a H-infinity control scheme is used to actively balance the external force and provide the measurement. The force sensing principle is based on the active control of the electrostatic bipolar actuator (comb-drive) within the sensor. An external load force acts on the sensor and displaces the probe. The controller is set to balance the applied force and keep the probe at its null position. As a result, the applied force is obtained in real time from the balancing control signal. A meso-scale prototype has been built as proof-of-concept and an especially designed H-infinity control allows for a measurement accuracy of 0.4 μN over a large range [-400+400] μN.
{"title":"H-infinity optimal control enabled micro-force sensing","authors":"Abdenbi Mohand Ousaid, S. Haliyo, S. Régnier, V. Hayward","doi":"10.1109/ICOSC.2013.6750904","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750904","url":null,"abstract":"This paper describes a micro-force sensing device where a H-infinity control scheme is used to actively balance the external force and provide the measurement. The force sensing principle is based on the active control of the electrostatic bipolar actuator (comb-drive) within the sensor. An external load force acts on the sensor and displaces the probe. The controller is set to balance the applied force and keep the probe at its null position. As a result, the applied force is obtained in real time from the balancing control signal. A meso-scale prototype has been built as proof-of-concept and an especially designed H-infinity control allows for a measurement accuracy of 0.4 μN over a large range [-400+400] μN.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"18 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":"116849998","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.2013.6750922
R. H. Hirpara, S. Sharma
The concept of phase tracking has found its applications in GPS systems, radar systems, signal processing and communication systems etc. The phase tracking problem is generally formalized as a non-linear noisy observation equation in which the measurement non-linearity is sinusoid added with additive noise. From the dynamical systems' viewpoint, we state the evolution of the phase angle of the measurement equation. As a result of this, we wish to estimate the phase angle from given observations using two non-linear filters: (i) the extended Kalman filter (ii) a Gaussian non-linear filter. This paper develops two non-linear filters for a filtering model for the phase tracking in which the Ornstein-Uhlenbeck process is the process noise and the Brownian noise process is the observation noise. The filter efficacy is examined by utilizing quite extensive numerical experimentations with two different sets of data. This paper unfolds a connection between coloured noise processes, stochastic filtering methods in systems and control and communications.
{"title":"On a phase tracking problem: Non-linear filtering approaches","authors":"R. H. Hirpara, S. Sharma","doi":"10.1109/ICOSC.2013.6750922","DOIUrl":"https://doi.org/10.1109/ICOSC.2013.6750922","url":null,"abstract":"The concept of phase tracking has found its applications in GPS systems, radar systems, signal processing and communication systems etc. The phase tracking problem is generally formalized as a non-linear noisy observation equation in which the measurement non-linearity is sinusoid added with additive noise. From the dynamical systems' viewpoint, we state the evolution of the phase angle of the measurement equation. As a result of this, we wish to estimate the phase angle from given observations using two non-linear filters: (i) the extended Kalman filter (ii) a Gaussian non-linear filter. This paper develops two non-linear filters for a filtering model for the phase tracking in which the Ornstein-Uhlenbeck process is the process noise and the Brownian noise process is the observation noise. The filter efficacy is examined by utilizing quite extensive numerical experimentations with two different sets of data. This paper unfolds a connection between coloured noise processes, stochastic filtering methods in systems and control and communications.","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":"128486074","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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