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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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Adaptive finite-time control of master-slave manipulators with time-varying delay

Adaptive finite-time control of master-slave manipulators wi...

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

作者： Asma Ounissi Neila Mezghani Ben Romdhane Laboratory of sciences and technique of automatic control and computing (Lab-STA) Nationnal school of engineering of sfax Sfax Tunisia

ISBN: (数字)9781728188157

ISBN: (纸本)9781728188164

The work presented in this paper focuses on the finite-time control of the master-slave manipulators with time-varying delay. First, a nonsingular fast terminal sliding mode control (NFTSMC) is used for this system based on the knowledge of the upper bound of the uncertainties and disturbances. Despite of the presence of the uncertainties, disturbances, load variation and time-varying delay, the controller is robust and present a finite-time convergence. Second, an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) is applied to master-slave manipulators to avoid the knowledge of the upper bound of the uncertainties and disturbances. This controller presents good performance compared to the first one. The two controllers are evaluated in simulation.

关键词： Uncertainty Upper bound Master-slave Manipulators Load management Delays Sliding mode control

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Singularity representation and workspace determination of the parrallel robot PAR4

Singularity representation and workspace determination of th...

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

作者： Ahlem Saidi Neila Mezghani Ben Romdhane Laboratory of sciences and technique of automatic control and computing (Lab-STA) Nationnal school of engineering of sfax Sfax Tunisia

ISBN: (数字)9781728188157

ISBN: (纸本)9781728188164

In this paper, the Singularity representation and workspace determination of the parrallel robot PAR4 are presented. The serial singularity (type 1) is determined using the kinematic matrix. This type of singularity indicates the unreachable points in the workspace. Based on the inverse geomatric model (MGI) of the parallel robot PAR4 the workspace is determined. Numerical results are presented showing some singularity of type 1 and their representation of the robot PAR4. Also, the workspace of this robot is presented.

关键词： Parallel robots Geomagnetism Simulation Computational modeling Kinematics Numerical models

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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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Robust|$(\mathcal{Q},\mathcal{S},\mathcal{R})$|-|$\gamma$|-dissipative sliding mode control for uncertain discrete-time descriptor systems with time-varying delay

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IMA Journal of Mathematical control and Information 2018年第3期35卷 735-756页

作者： Kchaou, Mourad Mahmoud, Magdi S College of Engineering University of Hail Hail Kingdom of Saudi Arabia Laboratory of Sciences and Techniques of Automatic Control & Computer Engineering University of Sfax Sfax Tunisia Distributed Control Research Lab Systems Engineering Department KFUPM Dhahran Saudi Arabia

In this study, a robust sliding mode-based learning control strategy for a class of non-linear discrete-time descriptor systems with time-varying delay and external disturbance is developed. A new sliding function is proposed and a sufficient condition is derived to guarantee the sliding mode dynamics to be robustly admissible and|$(\mathcal{Q},\mathcal{S},\mathcal{R})$|-|$\gamma$|-dissipative. Moreover, a sliding-mode control law is proposed such that the reaching motion satisfies the discrete-time sliding mode reaching condition for all admissible uncertainties and time-varying delay. The appealing attributes of this approach include: (i) the closed-loop system exhibits a strong robustness against uncertain dynamics and (ii) the control scheme enjoys the chattering-free characteristic. Two representative examples are given to illustrate the theoretical developments.

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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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Fault-tolerant fuzzy sliding-mode control for a class of MIMO underactuated nonlinear systems

Fault-tolerant fuzzy sliding-mode control for a class of MIM...

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International Conference on Systems and control (ICSC)

作者： Faten Baklouti Sinda Aloui Abdessattar Chaari Ahmed El Hajjaji Universite de Sfax Sfax TN Laboratory of Sciences and Techniques of Automatic control computer engineering (Lab-STA) University of Sfax Sfax Tunisia University of Picardie Jules Verne Lab. MIS Amiens France

ISBN: (纸本)9781509039616

This paper focuses on the synthesis of adaptive fuzzy fault tolerant controller which combines a sliding mode controller and a Proportional Integral controller (PI) for a class of MIMO underactuated nonlinear systems with external disturbances. The proposed control law treats the underactuated systems on their original non square form without squaring them by adding or eliminating variables. The uncertain system functions are predicted by fuzzy logic systems and free parameters can be updated on-line by adaptive laws based on Lyapunov theory. The overall adaptive fuzzy sliding mode scheme guarantees the global stability of the resulting closed-loop system as well as the convergence of the reference tracking error vector. The validity of the proposed approach is shown by computer simulations.

关键词： Adaptive systems Fault tolerant systems Nonlinear systems MIMO Robustness Fault tolerant control

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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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A novel maximum power point tracking algorithm for photovoltaic systems

A novel maximum power point tracking algorithm for photovolt...

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

作者： Asma Zaidi Karim Dahech Tarek Damak Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering (Lab-STA) University of Sfax Sfax Tunisia

ISBN: (纸本)9781509034086

A maximum power point tracking method based on fast terminal sliding mode control (FTSMC) for photovoltaic systems is introduced in this work. The control scheme contains two loops: the first achieves the maximum power point (MPP) searching via an incremental conductance algorithm which provides the reference voltage (MPV). The second loop performs the regulation of the operating point to the reference MPV. Simulations results have proved the efficiency of the proposed method.

关键词： Mathematical model Maximum power point trackers Photovoltaic systems Temperature Sliding mode control Algorithm design and analysis

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Generalized integrated interleaving BCH codes

Generalized integrated interleaving BCH codes

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IEEE International Symposium on Information Theory

作者： Yingquan Wu Department of Engineering University Campus Bio-Medico of Rome Unit of Computer Systems and Bioinformatics Italy Laboratory of Sciences and Techniques of Automatic control and computer engineering (Lab-STA) University of Sfax Sfax Tunisia

ISBN: (纸本)9781509018079

Tang and Koetter proposed generalized integrated interleaved Reed-Solomon codes in which each code of the second layer belongs to different subcode of the first layer code. However, the original scheme is inapplicable to binary BCH codes since its integrating coefficients are general finite field elements. In this work we propose a novel generalized integrated interleaving scheme over binary BCH codes, derive a lower bound on the minimum distance, and further present an algebraic encoding and decoding algorithm.

关键词： Encoding Decoding Redundancy Systematics Generators Power demand

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