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

作者： Neila Mezghani Ben Romdhane Moncef Triki Sofiene Hajji Tarak Damak Laboratory of Sciences and Techniques of Automatic control and computing (Lab-STA) Higher Institute of Industriels Systems of Gabes Gabes Tunisia Laboratory of Sciences and Techniques of Automatic control and computing (Lab-STA) National School of Electronics and Telecommunications of Sfax Sfax Tunisia Laboratory of Sciences and Techniques of Automatic control and computing (Lab STA) National School of Engineering of Sfax Sfax Tunisia

ISBN: (数字)9798331542726

ISBN: (纸本)9798331542733

This paper introduces a fast fixed-time non-singular terminal sliding mode control approach, utilizing a sliding mode observer, to tackle the tracking challenge in teleoperation systems. A robust fixed-time control law is formulated to achieve accurate tracking performance, effectively countering parametric uncertainties, external disturbances, and time-varying delays. Furthermore, the proposed fast fixed-time non-singular terminal sliding surface ensures convergence within a fixed time frame once the sliding condition is satisfied. To improve practical implementation, a sliding mode observer is integrated, removing the necessity for a velocity sensor. The system's stability is demonstrated through Lyapunov theory.

关键词： Uncertainty Simulation Observers Robot sensing systems Main-secondary stability analysis Delays Sliding mode control Time-varying systems Convergence

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Sensor Fault Estimation and Ftc Design for Fractional Linear Systems Using the Conformable Derivative

Sensor Fault Estimation and Ftc Design for Fractional Linear...

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

作者： Ali Omar M. Alsharif A. Jmal O. Naifar Ausama H. Ahmed H. Gassara A. Ben Makhlouf Control and Energy Management laboratory (CEM lab) Sfax University Engineering National School Tunisia Department of Electrical & Computer Engineering Faculty of Engineering Elmergib University Alkhums Libya Control and Energy Management laboratory (CEM lab) Monastir University Tunisia Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering National School of Engineering of Sfax University of Sfax Tunisia Department of Mathematics Faculty of Sciences of Sfax Sfax Tunisia

ISBN: (数字)9798331542726

ISBN: (纸本)9798331542733

In this paper, Fault Tolerant control (FTC) for fractional-order systems (FOS) has not received as much attention in the literature as it has for standard integer-order systems. This work aims to bridge that gap. We propose a practical approach to fault estimation and fault-tolerant control (FTC) specifically designed for linear (FOS) with sensor failures. Our method leverages fractional exponential stability within the Lyapunov framework and employs the Conformable formulation of fractional derivatives. Notably, the primary contribution of this paper is the first application of the Conformable fractional derivative (CFD) in the context of (FTC). To accurately estimate states and faults, the proposed approach utilizes an observer coupled with a customized adaptation law. To validate our theoretical contributions, we present a detailed simulation of a numerical case study.

关键词： Linear systems Bridges stability Fault tolerant systems Fault tolerant control Observers control theory standards Lyapunov methods

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Robust Self-tuning control Based on Discrete-time Sliding Mode for Auto-regressive Mathematical Model in the Presence of Unmodelled Dynamics

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International Journal of Automation and computing 2016年第3期13卷 277-284页

作者： Nabiha Touijer Samira Kamoun Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering (Lab-STA) National School of Engineering of SfaxUniversity of Sfax

In this paper, we propose a new robust selfbtuning control, called the generalized minimum variance a/-equivalent self- tuning control （GMVSTC-a/） for the linear timevarying （LTV） systems, which can be described by the discrete-time auto-regressive exogenous （ARX） mathematical model in the presence of unmodelled dynamics. The estimation of the parameters contained in this mathematical model is made on the basis of the proposed modified recursive least squares （m-RLS） parametric estimation algorithm with dead zone and forgetting factor. The stability analysis of the proposed parametric estimation algorithm m-RLS is treated on the basis of a Lyapunov function. A numerical simulation example is used to prove the performances and the effectiveness of the explicit scheme of the proposed robust self-tuning control GMVSTC-a/.

关键词： Discrete-time systems parametric uncertainty robust estimation robust self-tuning control sliding mode control sta-bility.

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N4SID and MOESP Algorithms to Highlight the Ill-conditioning into Subspace Identification

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International Journal of Automation and computing 2014年第1期11卷 30-38页

作者： Slim Hachicha Maher Kharrat Abdessattar Chaari Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering (Lab-STA) National School of Engineering of SfaxUniversity of Sfax

In this paper,an analysis for ill conditioning problem in subspace identifcation method is *** subspace identifcation technique presents a satisfactory robustness in the parameter estimation of process model which performs *** a frst step,the main geometric and mathematical tools used in subspace identifcation are briefly *** the second step,the problem of analyzing ill-conditioning matrices in the subspace identifcation method is *** illustrate this situation,a simulation study of an example is introduced to show the ill-conditioning in subspace *** numerical subspace state space system identifcation(N4SID)and multivariable output error state space model identifcation(MOESP)are considered to study,the parameters estimation while using the induction motor model,in simulation(Matlab environment).Finally,we show the inadequacy of the oblique projection and validate the efectiveness of the orthogonal projection approach which is needed in ill-conditioning;a real application dealing with induction motor parameters estimation has been *** obtained results proved that the algorithm based on orthogonal projection MOESP,overcomes the situation of ill-conditioning in the Hankel s block,and thereby improving the estimation of parameters.

关键词： Subspace identification ill-conditioning oblique projection orthogonal projection algorithms numerical subspace state space system identification (N4SID) multivariable output error state space model identification (MOESP) induction motor

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state Feedback Tracking control for Indirect Field-oriented Induction Motor Using Fuzzy Approach

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International Journal of Automation and computing 2013年第2期10卷 99-110页

作者： M. Allouche M. Chaabane M. Souissi D. Mehdi F. Tadeo Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering (Lab-STA) National School of Engineering of SfaxUniversity of Sfax Laboratory of Computer and Automatic for System (LIAS) Higher School of Engineering of Poitiers (ESIP) University of Poitiers Department of Systems Engineering University of Valladolid

This paper deals with the synthesis of fuzzy controller applied to the induction motor with a guaranteed model reference tracking performance. First, the Takagi-Sugeno （T-S） fuzzy model is used to approximate the nonlinear system in the synchronous d-q frame rotating with field-oriented control strategy. Then, a fuzzy state feedback controller is designed to reduce the tracking error by minimizing the disturbance level. The proposed controller is based on a T-S reference model in which the desired trajectory has been specified. The inaccessible rotor flux is estimated by a T-S fuzzy observer. The developed approach for the controller design is based on the synthesis of an augmented fuzzy model which regroups the model of induction machine, fuzzy observer, and reference model. The gains of the observer and controller are obtained by solving a set of linear matrix inequalities （LMIs）. Finally, simulation and experimental results are given to show the performance of the observer-based tracking controller.

关键词： Fuzzy tracking control H∞ performance feedback controller linear matrix inequality （LMI） fuzzy observer

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A Sliding Mode Observer for Uncertain Nonlinear Systems Based on Multiple Models Approach

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International Journal of Automation and computing 2017年第2期14卷 202-212页

作者： Kd s Hfa edh Karim Dahech Tarak Damak Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering (Lab-STA) National School of Engineers of Sfax University of Sfax B.P. 1173 3038 Sfax Tunisia

This paper presents a method of state estimation for uncertain nonlinear systems described by multiple models approach. The uncertainties, supposed as norm bounded type, are caused by some parameters＇ variations of the nonlinear system. Linear matri~ inequalities （LMIs） have been established in order to ensure the stability conditions of the multiple observer which lead to determine the estimation gains. A sliding mode gain has been added in order to compensate the uncertainties. Numerical simulations through a state space model of a real process have been realized to show the robustness of the synthesized observer.

关键词： Uncertain nonlinear system norm bounded uncertainty multiple models approach multiple observer sliding modeobserver.

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Sensor Faults Observer Design with H_∞ Performance for Non-linear T-S systems

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International Journal of Automation and computing 2013年第6期10卷 563-570页

作者： Imen Haj Brahim Maha Bouattour Driss Mehdi Mohamed Chaabane Ghani Hashim Laboratory of Sciences and Techniques of Automatic Control&Computer Engineering(Lab-STA) National School of Engineering of SfaxUniversity of Sfax LIAS-ENSIP University of PoitiersLIAS-ENSIP2 rue Pierre Brousse Computer Science Department Cihan University

This paper deals with the problem of the state estimation and the sensor faults detection for nonlinear perturbed systems described by Takagi-Sugeno （T-S） fuzzy models with unmeasurable premise variables. Indeed, a T-S observer is synthesized, in descriptor form, to estimate both the system states and the sensor faults simultaneously. The idea of the proposed approach is to introduce the sensor fault as an auxiliary variable in the state vector. Besides, the T-S model with unmeasurable premise variables is reduced to a perturbed model with measurable variables. Convergence conditions are established with Lyapunov theory and the H∞ performance in order to guarantee the best robustness to disturbances. These conditions are expressed in terms of linear matrix inequalities （LMIs）. The parameters of the observer are computed using the solution of the LMI conditions. Finally, a numerical example is given to illustrate the design procedures. Simulation results show the satisfactory performances.

关键词： Takagi-Sugeno （T-S） fuzzy system sensor faults H∞ performance descriptor approach observer linear matrix inequality（LMI）.

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Parametric estimation for wiener-hammerstein models by the recursive instrumental variable method

Parametric estimation for wiener-hammerstein models by the r...

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International Conference on sciences and techniques of automatic control and computer engineering (sta)

作者： Marai Ghanmi Afef Salhi Houda Hajji Sofien Kamoun Samira Laboratory of Sciences and Techniques of Automatic Control and computer engineering (Lab-STA)

ISBN: (纸本)9781509034086

This document aims to solve the parametric estimation problem of nonlinear time-varying systems modeled by Wiener-Hammerstein models (W-H) with unknown time-varying parameters. A recursive instrumental variable estimation method is developed in order to estimate the parameters of the considered blocks-oriented models despite the existence of a correlated noise with observations. The estimation method is based on the least square technique. Furthermore, an example is devoted to appear and justify the availability of the detailed and proposed method.

关键词： Mathematical model Estimation Instruments Nonlinear systems Computational modeling Prediction algorithms Predictive models

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state feedback stabilization of time delay linear singular systems subject to actuator saturation 19

State feedback stabilization of time delay linear singular s...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Gassara, Hamdi El Hajjaji, Ahmed Chaabane, Mohamed Modeling Information and Systems Laboratory University of Picardie Jules Verne Amiens80000 France Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering Lab-STA National School of Engineering of Sfax University of Sfax Tunisia

ISBN: (纸本)9783902823625

This paper investigates the problem of stabilization of time delay linear singular systems subject to actuator saturation. A polytopic approach is used to describe the saturation behavior. By using an augmented Lyaponuv-Krasovskii functional and adopting the delay partitioning technique, less conservative sufficient conditions are established to ensure the closed loop system to be locally admissible based on a state feedback controller. In this paper, all the conditions are transformed into minimization problem involving LMI conditions by adopting the idea of the cone complementarity algorithm. A numerical example illustrates the effectiveness of the design. © IFAC.

关键词： Time delay

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Higher Order Sliding Mode control of Uncertain Robot Manipulators

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Journal of Electrical engineering 2014年第3期2卷 116-123页

作者： Neila Mezghani Ben Romdhane Tarak Damak Lab-STA (Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering) National Engineering School ofSfax Sfax 3038 Tunisia

This paper proposes a higher order sliding mode controller for uncertain robot manipulators. The motivation for using high order sliding mode mainly relies on its appreciable features, such as high precision and elimination of chattering in addition to assure the same performance of conventional sliding mode like robustness. Instead of a regular control input, the derivative of the control input is used in the proposed control law. The discontinuity in the controller is made to act on the time derivative of the control input. The actual control signal obtained by integrating the derivative control signal is smooth and chattering free. The stability and the robustness of the proposed controller can be easily verified by using the classical Lyapunov criterion. The proposed controller is tested to a three-degree-of-freedom robot to prove its effectiveness.

关键词： High order sliding mode control of robot Lyapunov method

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