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Synchronization control of multiple robots manipulators

Synchronization control of multiple robots manipulators

引用

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

作者： Yassine Bouteraa Jawhar Ghommam Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) National Engineering School of Sfax (ENIS) Sfax Tunisia

This paper develops a new control approach to position synchronization of multiple robot manipulators based on emergent consensus algorithms. The proposed strategy only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of any explicit leaders in the team. The control strategy is to stabilise position tracking of each manipulator while synchronizing its motion with other manipulator's position motion so that differential position errors amongst robots converge to zero. Simulations conducted on a multi-robots manipulators motion control system demonstrate the effectiveness of the method.

关键词： Robot control Robot kinematics Motion control Orbital robotics Manipulator dynamics control systems intelligent robots Communication system control Automatic control Production systems

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Synthesis of a fuzzy controller for the navigation of an electricwheelchair for handicapped

Synthesis of a fuzzy controller for the navigation of an ele...

引用

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...

引用

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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IMC based automatic tuning method of PID controllers using neural networks

IMC based automatic tuning method of PID controllers using n...

引用

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

作者： R. Chibani M. Chtourou Research Unit on Intelligent Control Optimization design & Optimization of Complex Systems (ICOS) Department of Electrical Engineering National Engineering School of Sfax (ENIS) Sfax Tunisia

In this paper, a new approach for neural PID tuning is presented based on the use of a neural network and the internal model control (IMC) principle. The neural network is used to adjust on line the PID controller after an off line training step. The developed approach is based on the use of a neural supervisor having as inputs the control signal, its correspondent output and the filter time constant and the PID parameters as outputs. The design of the supervisor is based on the procedures of linearization and IMC principle. We briefly outline the content of the tuning course and finish the paper with illustrative example where good performances have been obtained.

关键词： Three-term control Automatic control Neural networks Robust control Filters Robustness design optimization Lattices Filtering Reflection

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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...

引用

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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On the performances of neuronal classifiers for pattern recognition

On the performances of neuronal classifiers for pattern reco...

引用

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

作者： Hayet Boughrara Mohamed Chtourou Research unit on Intelligent Control design and Optimisation of complex Systems (ICOS) Sfax Engineering School University of Sfax Sfax Tunisia

This work consists on the evaluation of the performances of three neural classifiers. The Multi-Layer Perceptron (MLP), the Self-Organizing Map (SOM), the Learning Vector Quantization (LV Q) are considered by this study. The example that will be considered in the evaluation of the technical classifications's performances is the handwritten character recognition.

关键词： Pattern recognition Character recognition Performance evaluation Multilayer perceptrons Vector quantization Data mining intelligent control Signal design design optimization design engineering

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intelligent model of continuous improvement mechanisms scope of QMS

Intelligent model of continuous improvement mechanisms scope...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Sofiene Hermi Taieb Ben Romdhane Raouf Ketata Department of Physics and Instrumentation Engineering National Institute of Applied Science and Technology Tunis Tunisia Research Unit on Intelligent Control Design and Optimization of Complex System (ICOS) National Engineering School of Sfax Sfax Tunisia

This work proposes a new methodology to evaluate and improve the QMS (Quality Management System) effectiveness and efficiency to succeed for a factual approach including all monitoring parameters. This idea is justified by the difficulties incurred by the organizations to establish a continuous improvement's system based on the objectives and the process approach. In addition, the guidelines defined by the FDX 50-174 part published by AFNOR to assess the QMS effectiveness, still guides defining the assessment criteria and progress levels. Indeed, to facilitate the continuous improvement system's integration, we propose a new methodology based on a broad range of monitoring tools (functional and operational indicators, audits, quality control, customer satisfaction) and including the requirements of the process and the system approach.

关键词： Continuous improvement design engineering Quality management Condition monitoring Customer satisfaction ISO standards Physics Instruments Management training Cybernetics

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A new scheme of signature extarction for iris authentication

A new scheme of signature extarction for iris authentication

引用

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

作者： Belhassen Akrout Imen Khanfir Kallel Chokri Benamar Boulbaba Ben Amor REGIM: Research Group on Intelligent Machines Engineering National Engineering School of Sfax (ENIS) Sfax Tunisia Design Optimization of complex System ICOS Corporation Sfax Tunisia TELECOM Lille1 Rue G. Marconi Villeneuve d'Ascq France

Iris recognition, a relatively new biometric technology, has great advantages, such as variability, stability and security, thus is the most promising for high security environment. Iris recognition is proposed in this report. We describe some methods, the first one is based on grey level histogram to extract the pupil, the second is based on elliptic and parabolic HOUGH transformation to determinate the edge of iris, upper and lower eyelids, the third we used 2D Gabor Wavelets to encode the iris and finally we used the Hamming distance for authentication.

关键词： Authentication Image edge detection Biometrics Hamming distance Data mining Wavelet transforms Iris recognition Security Image analysis Detectors

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A Sliding mode control applied to whirling pendulum

A Sliding mode control applied to whirling pendulum

引用

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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Real time localisation of a mobile robot using Webcam data

Real time localisation of a mobile robot using Webcam data

引用

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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