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

作者： Sami Souissi Mohamed Boukattaya Laboratory of Sciences and Techniques of Automatic control &computer engineering (Lab-STA) National school of engineering of sfax University of sfax Tunisia

ISBN: (纸本)9781665482622

The problem of trajectory-tracking for Unmanned Surface Vehicle (USV) is presented using a robust adaptive approach. First, a virtual velocity command is developed using backstepping control to ensure the traj ectory tracking of the USV's location and orientation. Then, an adaptive update law is designed for the estimation and compensation of ocean currents disturbances acting on the USV system. The stability analysis and the computation of the adaptive laws are proved using Lyapunov stability. Simulation results show the validity of the proposed method for the trajectory tracking problem.

关键词： Backstepping Trajectory tracking Oceans Simulation Estimation Kinematics stability analysis

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Robust Sliding-Mode control for the Problem of Trajectory Tracking of Autonomous Marines Vehicles

Robust Sliding-Mode Control for the Problem of Trajectory Tr...

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

作者： Sami Souissi Mohamed Boukattaya Tarak Damak Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA) National school of engineering of sfax University of sfax Sfax Tunisia

ISBN: (数字)9781728188157

ISBN: (纸本)9781728188164

In this paper, we study the problem of trajectory tracking control for autonomous marines vehicles using robust sliding-mode controller. The proposed algorithm achieves good tracking performance of marine vehicle in the open sea in which there exist severe environmental disturbances and unknowns dynamic parameters. First, the dynamic model in task space of the marine vehicle system in horizontal motion is designed. By using position and velocity tracking errors, a robust controller is then developed based on a linear sliding-mode surface. The designed algorithm is chattering free due to hyperbolic tangent function in switching part. Based on the Lyapunov theorem, the stability in closed-loop system is guaranteed and the convergence of the position and velocity tracking errors are obtained. In addition, the robustness of the controller is verified when disturbances and uncertainties are introduced in the system. Extensive simulations are conducted to demonstrate the validity of the proposed algorithm.

关键词： Uncertainty Trajectory tracking Heuristic algorithms Dynamics Prototypes Marine vehicles Vehicle dynamics

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Robust sensor faults estimation with H∞ performance for Lipschitz uncertain nonlinear systems

Robust sensor faults estimation with H∞ performance for Lip...

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

作者： Ammar Zemzemi Mohamed Kamel Ahmed Toumi Laboratory of Science: and Techniques of Automatic Control and Computer Engineering (Lab-STA) University of Sfax PB Sfax Tunisia

ISBN: (纸本)9781467392358

This paper treats with the issue of disturbances, noises, uncertainties and sensor faults estimation for uncertain nonlinear systems whose nonlinearity satisfies the Lipschitz condition. The general idea of this approach is to establish an augmented model by supposing the sensor faults as an auxiliary state. In order to ensure the robustness of the proposed observer and guaranteed the convergence conditions, we have used the Lyapunov theory and the H ∞ criterion. So as to illustrate the design approach a control system of satellite attitude is presented.

关键词： Observers Uncertainty Robustness Nonlinear systems Simulation computers

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Contribution to the Sensors Faults Diagnosis of a Variable Speed Wind Turbine: Multimodel Approach

Contribution to the Sensors Faults Diagnosis of a Variable S...

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International Conference on Systems and control (ICSC)

作者： Yosra Sayahi Moez Allouche Mariem Ghamgui Sandrine Moreau Driss Mehdi Laboratory of Sciences and Techniques of Automatic Control & Computer Engineering (Lab-STA) National Engineering School of Sfax University of Sfax Sfax Tunisia Laboratory of Computer Science and Automatic Control for Systems University of Poitiers France

This paper highlights the importance of using a Doubly-Fed Induction Generators (DFIG) in the wind industry due to their ability to adapting for all variations in wind speed, thus providing increased efficiency and reliability. However, like any machine, DFIG are not immune to dysfunctional problems and faults (sensor faults, actuator faults and system faults) which affect energy production. To remedy this problem, we develop a Fault Detection and Insolation (FDI) system for sensors fault diagnosis in wind turbine. This work specifically addresses the use of observer's bench to detect and locate faults, such as intermittent sensor faults, inter-coil short circuits, emphasizing a multi-model approach. We use the Dedicated Observer Structure (DOS) and the Generalized Observer Structure (GOS) to solve the complex challenge of multiple and simultaneous sensor fault. Simulation results are presented to assess the effectiveness of the proposed diagnostic methods.

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

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IFAC Proceedings Volumes 2014年第3期47卷 10072-10077页

作者： Hamdi Gassara Ahmed El Hajjaji Mohamed Chaabane Modeling Information and Systems Laboratory University of Picardie Jules Verne Amiens 80000 Laboratory of Sciences and Techniques of Automatic control and computer engineering Lab-STA National School of Engineering of Sfax University of Sfax Tunisia

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.

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Backstepping and T.S fuzzy control for induction machine

Backstepping and T.S fuzzy control for induction machine

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

作者： Saïd Boubzizi Hafedh Abid Maher Kharrat Najib Essounbouli Mohamed Chaabane Laboratory of Sciences and Techniques of Automatic & computer engineering (Lab-STA) Centre for Research in Information Science and Communication (CReSTIC)

In this paper, we present an application of a Takagi Sugeno (TS) Fuzzy logic backstepping control for enhancing performance of the machine drive. The equations states of induction machine are described in a d-q frame related to the rotating stator field. In the first step, the state feedback linearization technique is used for decoupling speed and flux controls. In the second step, we have been developed a control scheme basis of fuzzy backstepping. The simulation results in MATlab environment show that the proposed scheme gives a satisfactory performance.

关键词： Backstepping Mathematical model stators Resistance Simulation Induction motors

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Adaptive sliding-mode control of nonholonomic wheeled mobile robot

Adaptive sliding-mode control of nonholonomic wheeled mobile...

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

作者： Yasmine Koubaa Mohamed Boukattaya Tarak Damak University of Sfax Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA) Sfax Tunisia Universite de Sfax Sfax TN

This paper designs an adaptive sliding mode dynamic controller for the trajectory tracking of wheeled mobile robot. First, a kinematic controller is introduced for the wheeled mobile robot. Then, the adaptive sliding mode dynamic controller (ASMDC) is proposed to make the real velocity of the wheeled mobile robot reach the desired velocity command, in presence of system uncertainties and disturbances. The convergence of the complete equations of motion of wheeled mobile robot is proved by the Lyapunov stability theory. computer simulation results illustrate the effectiveness of the proposed controller.

关键词： Mobile robots Kinematics Uncertainty Trajectory Dynamics Sliding mode control Wheels

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Hierarchical Parameter Estimation for Wiener-Hammerstein Systems

Hierarchical Parameter Estimation for Wiener-Hammerstein Sys...

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

作者： Afef Ghanmi Houda Salhi Mourad Elloumi Samira Kamoun Laboratory of Sciences and Techniques of Automatic Control and computer engineering (Lab-STA) Higher School of Science and Technology of Tunis Tunis University Tunis Tunisia

ISBN: (数字)9781728110806

ISBN: (纸本)9781728110813

This paper proposes a new method to estimate the unknown parameters for stochastic nonlinear systems that can be described by Wiener-Hammerstein (W-H) mathematical models (L-N-L cascade). The key of this technique is to decompose the W-H structure into three sub-blocks. Afterwards, we apply the Recursive Extended Least Squares (RELS) estimator at each discrete-time in order to estimate the unknown parameters. Next, we put the output system under two matrix forms and from that, we determine the others parameters using the predicted intermediate variables. The convergence analysis of the W-H-RHPE algorithm is made using the differential equation approach and its performance is validated by treating a simulation example.

关键词： Analytical models Stochastic systems Estimation Stochastic processes Prediction algorithms Mathematical model Nonlinear systems

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Tracking control for induction motor using Takagi-Sugenou approach

Tracking control for induction motor using Takagi-Sugenou ap...

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

作者： Habib Ben Zina Moez Allouche Mohamed Chaabane Mansour Souissi Laboratory of Science and technique of Automatic Control and Computer Engineering(Lab-STA)

This paper studies an observer based H ∞ tracking control problem for induction motor by using Takagi-Sugenou model. The proposed method can guarantee the stability and improve tracking performance. The gains of the controller and the observer are given in a single step formulated in LMIs condition. The Takagi-Sugenou fuzzy model is used to approximate the nonlinear system in the synchronous d-q frame rotating with field-oriented control strategy. A fuzzy controller is designed to reduce the tracking error where the inaccessible rotor flux is estimated by a T-S fuzzy observer. Simulation results are given to show the effectiveness of the proposed observer-based tracking controller.

关键词： Induction motors Observers Rotors stators computers Torque Takagi-Sugeno model

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Identification and self-tuning regulation of a solar system

Identification and self-tuning regulation of a solar system

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International Conference on Communications, Computing and control Applications (CCCA)

作者： Mourad Elloumi Samira Kamoun Nacer M'Sirdi Aziz Naamane University of Sfax Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA) Sfax Tunisia University of Saint Jérôme Polytech'Marseille Laboratory of Computer Sciences and systems (LSIS) Marseille

This paper deals with the parameter estimation and the self-tuning regulation of a solar system, which is composed of a solar cell followed by a boost converter. The considered system is described by an input-output stochastic mathematical model at discrete-time, with unknown but constant or slowly time-varying parameters. This parameter estimation is conducted based on the method of prediction error and least squares techniques. The posed regulation problem consists in the development of a self-tuning regulator on the basis of the generalized minimum-variance approach. Thus, a generalized minimum-variance self-tuning regulator is developed. A numerical simulation of the self-tuning regulation of the considered stochastic system is treated.

关键词： Mathematical model Solar system Estimation Time varying systems Photovoltaic cells Vectors Regulators

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