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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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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...

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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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Robust sliding mode control applied to double Inverted pendulum system

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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.

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Study of Direction Probability and Algorithm of Improved Marriage in Honey Bees optimization for Weapon Network System

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Defence Technology（防务技术） 2009年第2期5卷 152-157页

作者：杨晨光涂序彦陈杰 Systems Engineering Research Institute China State Shipbuilding Corporation Department of Automation School of Information Science and Technology Beijing Institute of Technology Ministry of Education of Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are *** calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly *** such method,we can avoid the inconformity of the description obtained from the traditional index *** new indexes are also proposed,*** index,overlap index and cover index,which help manage the relationship among several *** normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well ***,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement *** is carried out to show the efficiency of the proposed indexes and the optimization algorithm.

关键词：网络系统优化问题破坏概率算法改进核武器蜜蜂婚姻 Sigmoid函数

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Robust controller Design for Networked control systems with Nonlinear Uncertainties

Robust Controller Design for Networked Control Systems with ...

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2009 American control Conference (ACC 2009)

作者： Junyan Yu Long Wang Mei Yu Jie Chen Yingmin Jia Intelligent Control Laboratory Center for Systems and Control College of Engineering and Key Laboratory of Machine Perception (Ministry of Education) Peking University Beijing 100871 P.R.China Department of Automation North China Electric Power University Zhuxinzhuang Dewai Beijing 102206 P.R.China Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 P.R.China Seventh Research Division Beihang University Beijing 100083 P.R. China

ISBN: (纸本)9781424445233

We address robust stabilization problem for networked control systems with nonlinear uncertainties and packet losses by modelling such systems as a class of uncertain switched systems. Based on theories on switched Lyapunov functions, we derive the robustly stabilizing conditions for state feedback stabilization and design packet-loss dependent controllers by solving some matrix inequalities. A numerical example and some simulations are worked out to demonstrate the effectiveness of the proposed design method.

关键词： Networked control systems robust controller design Packet loss control systems design approach Switched systems controller design State feedback Uncertainty nonlinearity

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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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A Multi Objective Genetic Algorithm based optimization of wavelet transform implementation

A Multi Objective Genetic Algorithm based optimization of wa...

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International Design and Test Workshop

作者： S. Fakhfakh Ghribi D. Sellami Masmoudi N. Derbel Research unit on Intelligent Control design and Optimization of complex Systems (lCOS) University of Sfax Sfax Tunisia

In this paper, an optimization method based on multi objective genetic algorithm (MOGA) is proposed in the design of a filter bank discrete wavelet transform (DWT). The different criteria are related to wavelet perfect reconstruction condition and minimization of the total number of non zero bits. Simulation results illustrate the optimization process applied to a case study : the Biorthogonal 9/7 DWT. They reveal improvement of compression performance and minimization of the number of non-zero bits. Performance measurements of the introduced method are even better than the original unquantized filter itself. Implementation results show a reducing hardware cost in comparison of proposed quantization method with trivial ones.

关键词： Genetic algorithms Wavelet transforms Discrete wavelet transforms optimization methods Algorithm design and analysis Filter bank Measurement Hardware Costs Quantization

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Real time localisation of a mobile robot using Webcam data

Real time localisation of a mobile robot using Webcam data

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

作者： L. Amouri M. Jallouli N. Derbel Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Engineering School of Sfax (ENIS) Sfax Tunisia

Localization is one of the most important functions for the mobile robot navigation. Most of previous position estimation methods calculate current position and orientation of mobile robot by applying various localization schemes with the information obtained from internal sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the environment. Several drawbacks about them have been brought up. To avoid these inconvenient, a new localization method that calculate in real time the absolute position of the mobile robot by using external camera fixed on the ceiling in the indoor environment is proposed. Besides, this approach provide a low expensive solution using a Webcam. The effectiveness of the proposed localization algorithm is demonstrated through the experiments.

关键词： Robots Robot kinematics Mobile robots Sensors Robot sensing systems Trajectory Wheels

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Fuzzy identification of dynamic systems with adaptive structure

Fuzzy identification of dynamic systems with adaptive struct...

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

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

This paper deals with two approaches for on line structure identification of fuzzy models. In the first one, a constructive algorithm is adopted to generate the fuzzy rules: it starts with a single pattern and a single fuzzy rule and grows progressively to reduce the system error within the specified tolerance. In the second one, an evolutionary algorithm is applied based on an alternation between incremental and pruning criteria. Indeed, the rule base is expanded when the model can not reduce the system error and one rule is removed if it has a petty contribution in the model output along some patterns. The presented approaches have been applied for two examples of dynamic systems to compare the identification performance.

关键词： Mathematical model Training Adaptation model Evolution (biology) Equations Heuristic algorithms Artificial neural networks

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