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

作者： Nabil Derbel Research Unit on Intelligent Control design &Optimisation of complex Systems (ICOS) National school of Engineers of Sfax (ENIS) University of Sfax Tunisia

This work is aimed at looking into the use of fuzzy systems for the study of nonlinear systems. In a first step, zero-order and first-order Sugeno fuzzy models are defined as approximators of nonlinear systems. It has been found that zero-order fuzzy systems are equivalent to the classical interpolation approach. Nonlinear terms have been limited by two fuzzy systems. The mean fuzzy system gives good accuracy. As illustrations, some numerical applications have been considered to show the efficiency of the use of fuzzy systems to study nonlinear problems.

关键词： Approximation methods Fuzzy systems Linear approximation Fuzzy control Nonlinear systems Differential equations Accuracy

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Some clustering techniques for modelling uncertain nonlinear systems

Some clustering techniques for modelling uncertain nonlinear...

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

作者： Ali Zribi Mohamed Djemel Mohamed Chtourou Research Unit on Intelligent Control design & Optimisation of Complex Systems (ICOS) Department of Electrical Engineering ENIS Engineering School Sfax Tunisia

This paper presents popular unsupervised clustering algorithms based on neuro-fuzzy, fuzzy c-means (FCM) and agglomerative techniques. The purpose of this paper is to provide clustering methods able to cluster the data patterns without a priori information about the number of clusters. We will show that it is possible to reconcile the FCM algorithm with the unsupervised clustering algorithms. Finally, to show the efficiencies of these algorithms, we will apply them to model the behaviour of uncertain system.

关键词： Clustering algorithms Distance measurement Classification algorithms Support vector machine classification Partitioning algorithms Algorithm design and analysis Equations

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Dynamic redundancy resolution for mobile manipulators with joints velocity limits avoidance

Dynamic redundancy resolution for mobile manipulators with j...

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

作者： M. Jallouli M. Boukattaya T. Damak Intelligent Control Design and Optimization of Complex Systems ENIS Engineering School Sfax Tunisia Unité de Commande de Procédés Industriels ENIS Engineering School Sfax Tunisia

In this paper, we present a dynamic redundancy resolution technique for mobile manipulator subject to joint velocity limits. First, the dynamic model of the mobile manipulator in feasible motion space is given. Next, a control algorithm is proposed which completely decouples the motion of the system into the end-effector motion in the task space and the internal motion in the null space and controls them in prioritized basis with priority given to the primary task space and enables the selection of characteristics in both subspaces separately. A special attention is given to the joints velocity limits avoidance where a normalized measure is proposed to solve problems inherent to velocity limits of the system. Simulation results are given to illustrate the coordination of two subsystems in executing the desired trajectory without violating the joint velocity limits.

关键词： Manipulators Aerospace electronics Mobile communication Manipulator dynamics Redundancy Dynamics Trajectory

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Variable structure control for set-point stabilization OF 2-DOF underactuated manipulators

Variable structure control for set-point stabilization OF 2-...

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

作者： S. Mahjoub F. Mnif N. Derbel Research unit on Intelligent Control Design &Optimization of complex Systems (ICOS) École Nationale d''lngenieurs de Sfax Sfax Tunisia Department of Electrical and Computer Engineering Sultan Qaboos University Muscat Oman Res. unit on Intell. Control Ecole Nat. d'Ing. de Sfax Sfax

controlling an underactuated manipulator with less actuators than degree of freedom is a challenging problem, specifically when it is to force the underactuated manipulator to track a given trajectory or to be configurated at a specific position in the work space. This paper presents a cascade sliding mode tracking controller for set-point regulation of 2-DOF underactuated manipulators. This work builds on an observation that an underactuated manipulator can be treated as two subsystems. Consequently, a cascade sliding mode tracking controller can be designed as follows. First, a sliding mode surface is designed for both subsystems, this two sliding surfaces represent a first layer in the design architecture. A second layer sliding mode surface is then constructed based on the first layer sliding surface. The cascaded sliding mode controller is therefor deduced in terms of Lyapunov stability theorem. Robustness issues to bounded disturbances are then investigated. Simulation results on 2-DOF whiling pendulum are presented to demonstrate the effectiveness of the approach.

关键词： control systems Manipulators Lyapunov method Joints Evolution (biology) Robustness Mechanical systems

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Investigation to the use of vibration energy for supply of hearing aids

Investigation to the use of vibration energy for supply of h...

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24th IEEE Instrumentation and Measurement Technology Conference

作者： Ben Amor, N. Kanoun, O. Sfax National School of Engineering Research Unit on Intelligent Control Design and Optimization of Complex Systems (ICOS) BPW 303B Tunisia Department of Metrology University of Kassel Germany

ISBN: (纸本)9781424405886

Using ambient energy, the operation time of batteries in mobile applications can be increased and the acceptability by the user can be improved In this paper we investigate the possibilities to design hearing aids as power aware system scavenging energy directly from its environment. The energy source we consider is vibration produced by movements primarily in the neighbourhood of the ear and other movements of the human body. Experimental measurements of vibration were evaluated by means of a theoretical model. The results show that an interesting improvement of battery operation time can be reached.

关键词： energy autonomous systems power aware systems hearing aid vibration energy

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Investigation to the Use of Vibration Energy for Supply of Hearing Aids

Investigation to the Use of Vibration Energy for Supply of H...

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IEEE Instrumentation and Measurement Technology Conference

作者： N. Ben Amor O. Kanoun Sfax National School of Engineering Research unit on Intelligent Control design& Optimization of complex Systems (ICOS) BPW Tunisia Chair of Metrology University of Kassel Germany

Using ambient energy, the operation time of batteries in mobile applications can be increased and the acceptability by the user can be improved. In this paper we investigate the possibilities to design hearing aids as power aware system scavenging energy directly from its environment. The energy source we consider is vibration produced by movements primarily in the neighbourhood of the ear and other movements of the human body. Experimental measurements of vibration were evaluated by means of a theoretical model. The results show that an interesting improvement of battery operation time can be reached.

关键词： Hearing aids Auditory system Batteries Testing Humans Vibration measurement Power supplies Energy consumption Costs Detectors

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Nonlinear Formation control of a Group of Underactuated Ships

Nonlinear Formation Control of a Group of Underactuated Ship...

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OCEANS - Europe

作者： J. Ghommem F. Mnif G. Poisson N. Derbel Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Ecole Nationale d''Ingenieurs de Sfax Sfax Tunisia Laboratoire de Vision et de Robotique Bourges France

ISBN: (纸本)9781424406340

This paper addresses a nonlinear formation control of a group of underactuated ship at a dynamic level of planar formation control, while holding a desired inter-ship formation pattern. In particular we propose a combination of the virtual structure and the path following approaches to derive the formation architecture. Ship coordination is achieved by adjusting the speed of each of the ships along its path, in the sense that the derivative of the path is left as a free input to synchronize the ships motion. The proposed controller is basically based on Lyapunov direct method and backstepping technique. Simulations illustrate the efficacy of the proposed approach.

关键词： Marine vehicles Robot kinematics Feedback Nonlinear control systems control systems Vehicle dynamics Remotely operated vehicles Space vehicles Communication system control Backstepping

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SYNCHRONIZATION OF GENERALIZED LORENZ SYSTEM USING ADAPTIVE controlLER

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IFAC Proceedings Volumes 2006年第8期39卷 2-6页

作者： Moez Feki Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Ecole Nationale d'Ingénieurs de Sfax BP W 3038Sfax Tunisia

This paper proposes a synchronization scheme for a class of continuous-time chaotic systems. We show that two systems belonging to the class of generalized Lorenz systems can be synchronized using an adaptive feedback controller. This controller is added to the response system to force a subset of its state variables to oscillate synchronously with their counterpart of the drive system. We show that the controller gain vector is tuned without any knowledge of the system model. To illustrate the efficiency of the proposed scheme, we present numerical simulations to synchronize two-by-two a Lorenz-like system, Chen system and Lü system.

关键词： Chaotic systems Chaotic synchronization Adaptive control Output regulation Lyapunov stability

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An optimized low voltage and High Frequency CCII based multifunction Filters

An optimized low voltage and High Frequency CCII based multi...

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ICECS 2006 - 13th IEEE International Conference on Electronics, Circuits and systems

作者： Salem, Samir Ben Masmoudi, Dorra Sellami Said, Ashwek Ben Loulou, Mourad Laboratoire de l'Electronique et des Technologies de l'Information National Engineering School of Sfax Tunisia Research Unit on Intelligent Design and Control of Complex Systems National Engineering School of Sfax Tunisia

ISBN: (纸本)1424403952

In this paper, a low voltage current conveyor (CCII) based multifunction filter is presented. Firstly, thanks to an optimizing heuristic, an optimal sizing of a low voltage low power CMOS current conveyor (CCII) was done. Hence, we improve static and dynamic performances of this configuration. The optimized CCII configuration has a current bandwidth of 1.103GHz and a voltage bandwidth of 1.18GHz and 33.4 Ω as RX parasitic resistance value. Secondly, implementation of a multifunction filter based on this configuration was done. The current mode filter has a tunable central frequency in the range [50MHz-800MHz]. PSPICE simulations are presented to demonstrate these results. ©2006 IEEE.

关键词： Bandwidth

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Remotely sensed image segmentation by nonlinear correlation

Remotely sensed image segmentation by nonlinear correlation

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International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： M. Salhi A. Kallel D.S. Masmoudi N. Derbel National Remote Sensing Centre Limited Tunisia Tunisia Research Unit on Intelligent Control Design and Optimization of Complex Systems Ecole Nationale d'Ingenieurs de Sfax Tunisia

In this paper, we describe an implementation of a new method for olive tree detection based on a remotely sensed data by applying nonlinear correlation technique. In order to look for a known object, we use its mask omega and sweep the considered image for computing the correlation between the mask and windows phi of the image. Accordingly, we defined a doorstep of resemblance decision between the picture and the mask by choice of the maximal correlation measure. Applying this technique for remote sensed image segmentation and olive trees extraction, as well as computing the vegetation indices, we get encouraging results

关键词： Image segmentation Remote sensing Vegetation mapping Spectroscopy Correlators intelligent control Design optimization Network address translation Image recognition Image analysis

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