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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Chokri Rekik Mohamed Jallouli Nabil Derbel Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Sfax Engineering School University of Sfax Sfax Tunisia

This paper presents an optimal fuzzy logic controller design using optimization techniques. The fuzzy logic controller (FLC) has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account the kinematic constraints. First, we have carried out a simulation of a fuzzy logic based controller which determines the speed values of each driving wheel, while seeking the goal. Secondly, an optimization of this controller has been realized using gradient method and genetic algorithms. A comparison between these methods has been effected. Not only simulation results are shown in this paper, but the ldquoreal-timerdquo implementation has been realized onto the mini robot Khepera II. Simulation results verify successfully the application of the proposed method to real motion situations.

关键词： Genetic algorithms Fuzzy control Mobile robots Navigation Fuzzy logic Optimal control design optimization Motion control Kinematics Wheels

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Robust fuzzy PID controller for discrete-time uncertain nonlinear systems

Robust fuzzy PID controller for discrete-time uncertain nonl...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Amira Aydi Imen Zaidi Mohamed Djemel Mohamed Chtourou Research unit of Intelligent Control design and Optimization of complex Systems (ICOS) National Engineering School of Sfax (ENIS) Sfax Tunisia

This paper presents a design method of robust fuzzy PID controller for discrete-time uncertain nonlinear systems. The Takagi-Sugeno fuzzy model with parameter uncertainties is employed to describe discrete-time uncertain nonlinear system with bounded uncertainties. A robust pole placement called pole coloring is used to control each local model. controller parameters are determined through cost function minimization by an optimization procedure. Closed-loop system's poles are chosen according to desired performance. The global controller is obtained by local control inference. Finally, two examples are treated to illustrate the effectiveness of the proposed design method.

关键词： Robust control Fuzzy control Fuzzy systems Three-term control Nonlinear control systems control systems Nonlinear systems design methodology Takagi-Sugeno model Uncertain systems

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Synchronization control of multiple robots manipulators

Synchronization control of multiple robots manipulators

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Yassine Bouteraa Jawhar Ghommam Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) National Engineering School of Sfax (ENIS) Sfax Tunisia

This paper develops a new control approach to position synchronization of multiple robot manipulators based on emergent consensus algorithms. The proposed strategy only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of any explicit leaders in the team. The control strategy is to stabilise position tracking of each manipulator while synchronizing its motion with other manipulator's position motion so that differential position errors amongst robots converge to zero. Simulations conducted on a multi-robots manipulators motion control system demonstrate the effectiveness of the method.

关键词： Robot control Robot kinematics Motion control Orbital robotics Manipulator dynamics control systems intelligent robots Communication system control Automatic control Production systems

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Synthesis of a fuzzy controller for the navigation of an electricwheelchair for handicapped

Synthesis of a fuzzy controller for the navigation of an ele...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Malek Njah Mohamed Jallouli Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Sfax Engineering School University of Sfax Sfax Tunisia

Many researchers are interested in electric wheelchair automation because of the mobility problemsmet by a certain number of disabled and aged people. In this paper, we propose to associate a system's help navigation to a standard electric *** system is equipped with unit control and sensors to extract some *** elaborate a fuzzy controller which generates speed wheels orders in order to join the target position.

关键词： Fuzzy control Navigation Automatic generation control control systems control system synthesis Automatic control Wheelchairs Automation Aging Sensor systems

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IMC based automatic tuning method of PID controllers using neural networks

IMC based automatic tuning method of PID controllers using n...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： R. Chibani M. Chtourou Research Unit on Intelligent Control Optimization design & Optimization of Complex Systems (ICOS) Department of Electrical Engineering National Engineering School of Sfax (ENIS) Sfax Tunisia

In this paper, a new approach for neural PID tuning is presented based on the use of a neural network and the internal model control (IMC) principle. The neural network is used to adjust on line the PID controller after an off line training step. The developed approach is based on the use of a neural supervisor having as inputs the control signal, its correspondent output and the filter time constant and the PID parameters as outputs. The design of the supervisor is based on the procedures of linearization and IMC principle. We briefly outline the content of the tuning course and finish the paper with illustrative example where good performances have been obtained.

关键词： Three-term control Automatic control Neural networks Robust control Filters Robustness design optimization Lattices Filtering Reflection

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A constructive based hybrid training algorithm for feedforward neural networks

A constructive based hybrid training algorithm for feedforwa...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Mounir Ben Nasr Mohamed Chtourou Research Unit on Intelligent Control Design & Optimization of Complex Systems (ICOS) Department of Electrical Engineering ENIS Engineering School Sfax Tunisia

This paper presents a new learning algorithm for feedforward neural networks. This algorithm uses the vigilance parameter to generate the hidden layer neurons. This process improves the initial weight problem and the adaptive neurons of the hidden layer. The proposed approach is based on combined unsupervised and supervised learning. In this algorithm, the weights between input and hidden layers are firstly adjusted by Kohonen algorithm with fuzzy neighborhood, whereas the weights connecting hidden and output layers are adjusted using gradient descent method. Two simulation examples are provided to demonstrate the efficiency of the approach compared with a number of other methods.

关键词： Neural networks Feedforward neural networks Neurons Fuzzy neural networks Vectors Organizing Euclidean distance Supervised learning Joining processes Learning systems

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Stability Analysis of Fuzzy Identification for Nonlinear Discrete systems - Part I: Theoretical Study

Stability Analysis of Fuzzy Identification for Nonlinear Dis...

引用

International Conference on Developments in esystems Engineering (DESE)

作者： Sonia Alimi Mohamed Chtourou Research unit on Intelligent Control design and Optimization of complex Systems (ICOS) Department of Electrical Engineering National School of Engineers of Sfax Sfax Tunisia

This paper presents the stability analysis of parameter identification. The Takagi Sugeno fuzzy model is employed to represent the discrete time nonlinear dynamical systems. Once the structure of the fuzzy model is fixed, the parameters can be optimized. The parameter identification is accomplished by applying the gradient method where the iteration rates are specific to each parameter. The stability of this algorithm is discussed by using two approaches which guarantee that the system is stable if the iteration rates satisfy sufficient conditions. The first approach deals with the consequence parameters and the second one deals with the premise parameters.

关键词： Stability analysis Fuzzy systems Parameter estimation design engineering Lyapunov method Linear matrix inequalities intelligent control design optimization Sufficient conditions Nonlinear systems

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High performance dual-output second and third generation current conveyors and current-mode multifunction filter application

High performance dual-output second and third generation cur...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Nadhmia Bouaziz El Feki Dorra Sellami Masmoudi Research Group: ICOS (Intelligent Control Design and Optimization of Complex Systems) National Engineering School of Sfax (ENIS) Tunisia

A wide bandwidth CMOS realization of high performance dual output second generation (CCIIplusmn) and third generation (CCIIIplusmn) current conveyors are presented. Both second and third generation current conveyors have the advantages of a wide current and voltage bandwidths, controlled intrinsic resistances at port X, Y and Z. We have developed an optimization program, thanks to Heuristic methodology that is used for optimal sizing regarding static and dynamic performance. PSPICE simulation show that the current and voltage bandwidths are respectively 1.5806 GHz and 6.506 GHz, and 454.11 Omega as R X input port resistance for a control current of 100 muA. CCIIplusmn is a useful building block for analog circuits, especially for application requiring dual outputs. The proposed circuit is able of operating at voltage supply (plusmn2.5V), with reduced power consumption. A frequency characterization of the proposed CCIIplusmn is given, this CCIIplusmn is characterized by low values for its parasitic input resistance (454.11 Omega). In this paper, we present a versatile multi-input multi-output controlled filter configuration. Either a three-input single output or single-input double-output universal filter can be realized. The proposed circuits offer the following advantageous features: realization of current-mode low-pass and band-pass filter responses from the same configuration, employing only three current conveyors and four grounded passive elements. In order to implement a current controlled Radiofrequency active filter, we use a translinear configuration for both second and third generation current conveyors. The proposed implementation exhibiting a current controlled intrinsic resistances at port X, Y and Z allow a control of the cut-off frequency. The cut-off frequency of the low pass filter can be attend 1.64 GHz and the central frequency of the band pass filter can be attend 1.13 GHz. Simulation results are in good accordance with theoretical ones. PSPICE

关键词： Active filters Band pass filters Bandwidth Cutoff frequency Voltage control SPICE Circuits CMOS technology Optimal control optimization methods

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Robust sliding mode control applied to double Inverted pendulum system

引用

AIP Conference Proceedings 2009年第1期1107卷 222-228页

作者： Sonia Mahjoub Faiçal Mnif Nabil Derbel aResearch unit on Intelligent Control design & Optimization of complex Systems (ICOS) National engineering school of sfax BP W 3038 Sfax bDepartment of Electrical and Computer Engineering Sultan Qaboos University Muscat Oman

A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat’s lemma. Simulation results show the validity of these methods.

关键词：

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Decomposition and hierarchical control for discrete complex systems by fuzzy logic controllers

Decomposition and hierarchical control for discrete complex ...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Najla Krichen Masmoudi Chokri Rekik Mohamed Djemel Nabil Derbel Research unit on Intelligent Control design and Optimisation of complex Systems (ICOS) Sfax Engineering School University of Sfax Sfax Tunisia

This paper proposes a method to compute sub-optimal control strategies of discrete time large-scale non-linear systems by fuzzy logic controllers. The method is based on the principle of decomposition of the global system into inter-connected subsystems. We consider that the non-linearities are located in the interconnections terms. Then, a mixed method of coordination procedure between different subsystems is formulated. So, for each subsystem, local optimal feedback gains are expressed as a function of the interconnection vector. Within this approach, first order Tkagi-Sugeno fuzzy logic systems have been constructed in order to identify these gains. Simulation results of a rotary crane show the effectiveness of the method and the robustness of the proposed approach.

关键词： control systems Fuzzy logic Large-scale systems Nonlinear control systems Vectors Cranes Fuzzy systems Space technology Optimal control intelligent control

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