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6th International Multi-Conference on systems, Signals and Devices

作者： Boukattaya, M. Jallouli, M. Damak, T. Control of Industrial Process Unit Intelligent Control Design and Optimization of Complex Systems Unit Tunisia

ISBN: (纸本)9781424443451

In this paper, we present a dynamic redundancy resolution technique for mobile manipulators using a position fuzzy controller. First, the dynamic model of the mobile manipulator in feasible motion space is given. Next, a control algorithm is proposed which resolve the redundancy by decoupling the motion of the system into the end-effector motion in the task space and an internal motion in the null space and controls them in prioritized basis with priority given to the primary task. In order to achieve a good end-effector trajectory tracking, a position fuzzy controller is used to provide the torques needed to move the end-effector along the desired trajectory. Simulation results are given to illustrate the coordination of two subsystems in executing the desired trajectories.

关键词： mobile manipulators dynamic redundancy resolution fuzzy controller

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Robust adaptive path following for a nonlinear third order Nomoto's ship model

Robust adaptive path following for a nonlinear third order N...

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International Multi-Conference on systems, Signals and Devices

作者： Taktak-Meziou, M. Ghommam, J. Derbel, N. Intelligent Control Design and Optimization of Complex Systems Unit ENIS Tunisia

ISBN: (纸本)9781424475346

In this paper, an adaptive backstepping method is used for a ship course tracking control. This has been done by applying a reference signal derived from a LOS algorithm. The ship model is described by a third order nonlinear model whose parameters are unknown. The control design uses estimate values of the unknown parameters of the system. Then, adaptive laws of the estimation of these values have been proposed. The stability of the controlled system has been ensured by the use of a Lyapunov function. Simulation results show the effectiveness of the proposed approach and the designed controller can be used to the ship course tracking with good performances. ©2010 IEEE.

关键词： Lyapunov functions

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Recursive backstepping stabilization of a wheeled mobile robot

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International Journal of Advanced Robotic systems 2004年第1期1卷 287-294页

作者： Mnif, Faical Sultan Qaboos University Department of Electrical and Computer Engineering Oman Intelligent Control Design and Optimization of Complex Systems Research Unit Tunisia

This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot.

关键词： Mobile robots

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Robust Adaptive control for Mobile Manipulators

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International Journal of Automation and computing 2011年第1期8卷 8-13页

作者： Mohamed Boukattaya Tarak Damak Mohamed Jallouli Control of Industrial Process Unit National School of Engineers University of Sfax Intelligent Control Design and Optimization of Complex Systems Unit National School of Engineers University of Sfax

This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and the convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller.

关键词： Mobile manipulator trajectory tracking robust adaptive control sliding mode control uncertainties and disturbances.

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Adaptive backstepping neural network approach to ship course control

Adaptive backstepping neural network approach to ship course...

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International Multi-Conference on systems, Signals and Devices

作者： Meziou, M. Taktak Ghommam, J. Derbel, N. National School of Engineering of Sfax Intelligent Control Design and Optimization of Complex Systems Unit Tunisia

ISBN: (纸本)9781457704130

This paper describes an Adaptive Backstepping Neural Network (ABNN) method used for a ship course tracking control. The ship model is described by a third order nonlinear model whose parameters are unknown. The control design uses estimate values of unknown parameters of the system. Then, adaptive laws of the estimation of these values have been proposed. The stability of the controlled system has been ensured by the use of a Lyapunov function. Simulation results show the effectiveness of the proposed approach and the designed controller can be applied to the ship course tracking with good performances. © 2011 IEEE.

关键词： Radial basis function networks

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Track following problem of a VCM actuator servo system for hard disc drives using predictive control

Track following problem of a VCM actuator servo system for h...

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9th International Multi-Conference on systems, Signals and Devices, SSD 2012

作者： Meziou, M. Taktak Ghommam, J. Derbel, N. National School of Engineering of Sfax Intelligent Control Design and Optimization of Complex Systems Unit Tunisia

ISBN: (纸本)9781467315906

This paper describes a Predictive control method used for track following control in hard disc drives (HDD). While reading/ writing data, the head must be positioned on the target data track quickly and precisely, and with the predictive control, we have achieved good tracking with the suppression of vibrations from high-order resonance modes. Simulation results show the effectiveness of the proposed approach and the servo system with predictive control presents good performances. © 2012 IEEE.

关键词： Servomechanisms

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control water level of a photovoltaic pumping system

Control water level of a photovoltaic pumping system

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2013 International Conference on control, Decision and Information Technologies, CoDIT 2013

作者： Khiareddine, Abla Salah, Chokri Ben Mimouni, Mohamed Faouzi ENIM Monastir Tunisia Research Unit on Intelligent Control Optimization Design and Optimization of Complex Systems ENIS Sfax Tunisia

ISBN: (纸本)9781424497966

The purpose of this paper is the regulation of water level in a photovoltaic pumping system. To reach this objective, we have developed an algorithm with Matlab / simulink which gives as result, the value of the reference speed required for vector control of induction motor taking into account the level of water in the tank and the variation of solar illumination. The string of photovoltaic pumping is simulated under matlab-Simulink. © 2013 IEEE.

关键词： Simulink

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Stochastic Approximation Based Adaptive Neural control for a Class of Nonlinear systems

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control AND intelligent systems 2005年第3期33卷 190-198页

作者： Mekki, H. Chtourou, M. Derbel, N. Research Unit on Intelligent Control Design and Optimization of Complex System (ICOS) National School of Engineers of Sfax 3038 Sfax BP.W Tunisia

This article presents an adaptive multilayer neural network-based controller that feedback-linearizes the system for a class of single-input single-output (SISO) and multi-input multi-output (MIMO) continuous-time nonlinear systems. control action is used to achieve tracking performances for state-feedback linearizable unknown non-linear system. The control structure consists of a feedback lineariza- tion portion provided by neural networks (NN). In the standard problem of feedback-based control, the cost to minimize is a func- tion of the output derivatives. When the cost function depends on the output error, the gradient method cannot be applied to adjust the neural network parameters. In this context, the stochastic approximation approach allows computation of the cost function derivatives. In order to show the feasibility and performance of this control scheme, two applications are chosen as nonlinear case studies.

关键词： Adaptive control neural networks nonlinear system stochastic

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Path following for underactuated marine craft using line of sight algorithm

Path following for underactuated marine craft using line of ...

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7th Middle Eastern Simulation Multiconference (MESM 2005)

作者： Ghommem, J MniF, F Derbel, N Intelligent Control Design and Optimization of Complex Systems Unit ENIS Tunisia Laboratoire de Vision et de Robotique Orlélans France

ISBN: (纸本)907738121X

This work provides algorithms for underactuated ship path guidance using nonlinear control theory. Path following is achieved by a geometric assignment based on a line-of-sight projection algorithm for minimization of the cross-track error to the path. The control laws in surge and yaw are derived using backstepping. This results in a dynamic feedback controller where the dynamics of the uncontrolled sway mode enters the yaw control law. Uniform Global Asymptotic Stability (UGAS) is proven for the tracking error dynamics in surge and yaw while the controller dynamics is bounded. To show the effectiveness of the controller and guidance systems, we simulate our algorithm using Simulink on a marine craft model.

关键词： nonlinear control underactuated marine craft backstepping control Line of Sight Global uniform asymptotic convergence

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A Sliding mode control applied to whirling pendulum

A Sliding mode control applied to whirling pendulum

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2nd International Conference on Signals, Circuits and systems

作者： Mahjoub, Sonia Mnif, Faical Derbel, Nabil Research unit on Intelligent Control design Optimization of complex Systems (ICOS) Department of Electrical and Computer Engineering Sultan Qaboos University Muscat Oman

ISBN: (纸本)9781424426270

In this paper, we present a VSS-based tracking control for a fixed point regulation of 2-DOF underactuated manipilators The design approach is systematic and relies on the selection of appropriate choice of two sliding surface. The controller is designed for the both sliding surfaces are attractive. Lyapunov theory is used to study and demonstrate the stability of the system. Convergence of state space is proved and robustness issues to bounded disturbances are also investigated. Simulation results on 2-DOF whirling pendulum are presented to chow the effectiveness of this approach.

关键词： VSS sliding mode underactuated manipulator whirling pendulum

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