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Information Technologies & Smart Industrial systems (ITSIS), IEEE

作者： Sahar Jenhani Hassène Gritli Giuseppe Carbone Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Le Belvédère Tunis Tunisia RISC Lab (LR16ES07) Higher Institute of Information and Communication Technologies University of Carthage Borj Cedria Tunis Tunisia Department of Mechanical Energy and Management Engineering University of Calabria Rende (Cs) Italy

In this work, our goal is control the position of underactuated robotic Lagrangian systems through an affine-type PD controller and by adopting the inertia wheel inverted pendulum as an application example. In order to model the condition on feedback gains of the controller for stability, we take the dynamical model that describes the gap between the linearized model and the nonlinear dynamics. Moreover, we assume that this difference satisfies some condition. Furthermore, by virtue of the LMI techniques, we develop the stability conditions. Finally, we provide some results to reveal the efficiency of the proposed controller design.

关键词： Service robots Friction Wheels Position control Stability analysis Nonlinear dynamical systems Linear matrix inequalities

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Performance Comparison Between Backstepping and P.I Regulators Methods For Four Level Flying Capacitor Inverter Based Active Power Filter Control

Performance Comparison Between Backstepping and P.I Regulato...

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International Conference on Advanced systems and Electric Technologies (IC_ASET)

作者： Lazhar Manai Donia Hakiri Mongi Besbes Higher Institute of Information and Communication Technologies University of Carthage Hammam Chatt Tunisia Laboratory of Robotics Informatics and Complex Systems National Engineering School of Tunis University of Tunis Tunis Tunisia

ISBN: (数字)9781728163567

ISBN: (纸本)9781728163574

In this paper a control strategy using backstepping technique for multilevel inverter based active power filter control is developed. Performances comparison between backstepping strategy and PI regulators based methods is provided. Simulation results prove the robustness and accuracy of proposed technique compared with conventional methods.

关键词： Capacitors Backstepping Active filters Power harmonic filters Voltage control Multilevel inverters Harmonic analysis

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Walking Stabilization of the Passive Bipedal Compass robot using a Second Explicit Expression of the Controlled Poincaré Map

Walking Stabilization of the Passive Bipedal Compass robot u...

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International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

作者： Wafa Znegui Hassène Gritli Safya Belghith Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis Université de Tunis El Manar Tunis Tunisia

ISBN: (数字)9781728188157

ISBN: (纸本)9781728188164

This paper illustrates a stabilization approach of the passive bipedal locomotion of the compass-gait biped model based on an exclusively developed enhanced design of the closed form of the Controlled Poincaré Map (CPM). The followed technique relies on transforming the impulsive hybrid nonlinear dynamics of the passive motion into a linear form around a period-1 limit cycle. Forward, we simplify the complicated resulted expression using the second order of the Taylor Series. This technique, enables us to design a closed form of the CPM. The control of the passive bipedal locomotion starts with the identification of the period-1 fixed point of the non-CPM and continues with the determination of the linearized PM around such fixed point. Next, a feedback controller is adopted to stabilize this identified fixed point. Some simulation results are provided at the end to illustrate the efficiency of the control process of the passive walking motion of the compass-gait robot model.

关键词： Legged locomotion Simulation Process control Taylor series Nonlinear dynamical systems Compass Robots

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LMI-based Optimization for the Position Feedback Control of Underactuated Robotic systems via an Affine PD Controller: Case of the Pendubot

LMI-based Optimization for the Position Feedback Control of ...

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Data Analytics for Business and Industry: Way Towards a Sustainable Economy (ICDABI), International Conference on

作者： Sahar Jenhani Hassène Gritli Giuseppe Carbone Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Le Belvédère Tunis Tunisia Higher Institute of Information and Communication Technologies & RISC Lab (LR16ES07) University of Carthage Borj Cedria Tunis Tunisia Department of Mechanical Energy and Management Engineering University of Calabria Via Bucci Cubo 46C Rende (Cs) Italy

ISBN: (纸本)9781665490597

The set-point control problem of underactuated mechanical systems is a challenging issue and needs to be further investigated. This research work focuses on such problem for underactuated Lagrangian-type robotic systems, and then the objective lies in designing a suitable controller to change the robot’s current position to a desired state. Thus, our main idea is to control the robotic systems through an affine-type PD controller and by virtue of the LMI-based optimization techniques. Thus, we will develop LMI conditions on the controller gains to ensure the stability of the underactuated robot at the desired state. Then, to achieve this goal, we will consider the rescaled dynamical model describing the difference between the nonlinear model and its approximate linear dynamics, where we assume that this rescaled dynamics satisfies such some Lipschitz condition. Finally, the pendubot manipulator is adopted in order to verify the efficiency of the proposed controller.

关键词： Industries Simulation Friction Position control Stability analysis Nonlinear dynamical systems Mechanical systems

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Stabilization of the Passive Biped Dynamic Locomotion Using the Controlled Poincaré Map

Stabilization of the Passive Biped Dynamic Locomotion Using ...

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

作者： Wafa Znegui Hassène Gritli Safya Belghith Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) Ecole Nationale d'Ingénieurs de Tunis Université de Tunis El Manar Tunis Tunisia

ISBN: (数字)9781728110806

ISBN: (纸本)9781728110813

This paper discusses the stabilization of the passive dynamic walking (PDW) of the compass-gait biped robot using an explicit analytical classical expression of the controlled Poincarémap. We introduced the first-order Taylor series approximation to design a conventional expression of the controlled Poincaré map. In order to stabilize the passive bipedal gaits, we determine the period-l fixed point of the (uncontrolled) Poincarémap and we develop the linearized map around such fixed point. We adopt a state-feedback control law to stabilize this fixed point. In the end, in order to show the efficiency and the validity of the designed controlled Poincaré map in the stabilization of the passive biped dynamic locomotion of the compass robot, we present some simulation results.

关键词： Legged locomotion Simulation Taylor series Compass Robots

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An Enhanced Poincaré Map Expression for the Passive Dynamic Walking of the Compass-Gait Biped Robot

An Enhanced Poincaré Map Expression for the Passive Dynamic...

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

ISBN: (数字)9781728110806

ISBN: (纸本)9781728110813

This paper presents a continuous work of designing a classical analytical expression of the Poincaré map to improve our research related to the passive dynamic walking (PDW) of the planar compass-gait biped robot. The demonstration illustrated in this paper provides the steps and simulation results allowing to consistently modeling the expression of the Poincaré map. The design method we followed is based on the linearization of the flow of the impulsive hybrid nonlinear dynamics of the passive biped robot around a desired one-periodic hybrid limit cycle. Thus, via the second-order Taylor approximation, we design an explicit expression of the Poincaré map. We develop also an equation providing the step period of the biped locomotion. In the end, we present some numerical and graphical simulation results to compare between the features exhibited with the impulsive hybrid nonlinear dynamics and the developed Poincaré map and also the previously designed Poincaré map using the first-order Taylor approximation. These results show the efficiency and the validity of the designed Poincaré map in the analysis of the PDW of the compass-gait biped robot.

关键词： Legged locomotion Simulation Design methodology Limit-cycles Nonlinear dynamical systems Mathematical model Robots

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Classification of sEMG Biomedical Signals for Upper-Limb and Hand Rehabilitation Using a Hybrid CNN-SVM Architecture

Classification of sEMG Biomedical Signals for Upper-Limb and...

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Data Analytics for Business and Industry: Way Towards a Sustainable Economy (ICDABI), International Conference on

作者： Sami Briouza Hassène Gritli Nahla Khraief Safya Belghith Dilbag Singh Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Le Belvédère Tunis Tunisia Higher Institute of Information and Communication Technologies University of Carthage Borj Cedria Tunis Tunisia RISC Lab (LR16ES07) National Engineering School of Tunis University of Tunis El Manar Le Belvédère Tunis Tunisia School of Electrical Engineering and Computer Science Gwangju Institute of Science and Technology Gwangju South Korea

ISBN: (纸本)9781665490597

Electromyography (EMG) classification has been an important step to achieve the rehabilitation goal for lower/upper limbs and hands using robotic devices. To perform this step effectively, many researchers have adopted machine learning and deep learning algorithms. In this study, a hybrid CNN-SVM architecture was developed for the classification of surface EMG (sEMG) signals. The CNN part of the proposed architecture is used to extract relevant features from the data and the SVM part would use the extracted features for the classification task. This can be helpful as it will reduce human input and make results more consistent. For this work, we use the Ninapro DB2’s dataset, which contains 3 different Exercises B, C, and D. Thus, we obtained the following accuracy results: an accuracy of 78.56% for Exercise B, an accuracy of 72.84% for Exercise C, and an accuracy of 88.24% for Exercise D.

关键词： Support vector machines Performance evaluation Biological system modeling Feature extraction Electromyography Classification algorithms Data mining

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Control of the Passive-Dynamic Locomotion of the Compass-Gait Biped Robot

Control of the Passive-Dynamic Locomotion of the Compass-Gai...

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International Conference on Advanced systems and Electric Technologies (IC_ASET)

作者： Wafa Znegui Hassène Gritli Safya Belghith Higher Institute of Information and Communication Technologies Université de Carthage Borj-Cedria Tunis Tunisia Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis Université de Tunis El Manar Tunis Tunisia

ISBN: (数字)9781728163567

ISBN: (纸本)9781728163574

This paper discusses a stabilization method for the passive dynamic walking (PDW) of the compass-gait biped robot using an explicit analytical classical expression of the controlled Poincaré map in order to control its passive gaits. A linearization method is used to cast the problem from the impulsive hybrid nonlinear dynamics into the linear dynamics around a desired one-periodic hybrid limit cycle of the PDW. Thus, using the first-order Taylor approximation, we design an explicit expression of the controlled Poincaré map. In order to control the passive gaits, we develop first the linearized Poincaré map obtained around the period-one fixed point. We adopt a state-feedback control law using the LMI approach to stabilize this fixed point. We present finally some simulation results to reveal the efficiency of the designed control law in the control of the passive-dynamic locomotion of the compass-gait biped robot.

关键词： Legged locomotion Robots Nonlinear dynamical systems Mathematical model Limit-cycles Hip Dynamics

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Robust Static Output Feedback Stabilization of Continuous-Time Linear systems via Enhanced LMI Conditions

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IFAC-PapersOnLine 2020年第2期53卷 4540-4545页

作者： Hassène Gritli Ali Zemouche Safya Belghith Taous-Meriem Laleg-Kirati Higher Institute of Information and Communication Technologies Université de Carthage 1164 Borj Cedria Tunis Tunisia University of Lorraine CRAN CNRS UMR 7039 54400 Cosnes et Romain France Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis Université de Tunis El Manar BP. 37 Le Belvédère 1002 Tunis Tunisia Mathematical and Computational Sciences and Engineering Division King Abdullah University of Science and Technology (KAUST) Thuwal Kingdom of Saudi Arabia

This paper addresses the problem of Static Output Feedback (SOF) stabilization for continuous-time linear systems subject to norm-bounded parameter uncertainties. Usually this issue leads to the feasibility of a Bilinear Matrix Inequality (BMI), which is difficult to linearize to get non conservative Linear matrix inequality (LMI) conditions. In this paper, by means of some technical lemmas, we transform the BMI into a new LMI with a line search over two scalar variables. The obtained LMI conditions are less conservative than those existing in the literature. Numerical evaluations are presented to show the superiority of the proposed method.

关键词： Continuous-time Linear systems Robust control Parametric uncertainty Static output feedback Linear matrix inequality (LMI)

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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