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Robust Nonlinear Control of a Mobile Robot
Zidani, Ghania,Drid, Said,Chrifi-Alaoui, Larbi,Arar, Djemai,Bussy, Pascal The Korean Institute of Electrical Engineers 2016 Journal of Electrical Engineering & Technology Vol.11 No.4
A robust control intended for a nonholonomic mobile robot is considered to guarantee good tracking a desired trajectory. The main drawbacks of the mobile robot model are the existence of nonholonomic constraints, uncertain system parameters and un-modeled dynamics. in order to overcome these drawbacks, we propose a robust control based on Lyapunov theory associated with sliding-mode control, this solution shows good robustness with respect to parameter variations, measurement errors, noise and guarantees position and velocity tracking. The global asymptotic stability of the overall system is proven theoretically. The simulation results largely confirm the effectiveness of the proposed control.
Robust Nonlinear Control of a Mobile Robot
Ghania Zidani,Said Drid,Larbi Chrifi-Alaoui,Djemai Arar,Pascal Bussy 대한전기학회 2016 Journal of Electrical Engineering & Technology Vol.11 No.4
A robust control intended for a nonholonomic mobile robot is considered to guarantee good tracking a desired trajectory. The main drawbacks of the mobile robot model are the existence of nonholonomic constraints, uncertain system parameters and un-modeled dynamics. in order to overcome these drawbacks, we propose a robust control based on Lyapunov theory associated with sliding-mode control, this solution shows good robustness with respect to parameter variations, measurement errors, noise and guarantees position and velocity tracking. The global asymptotic stability of the overall system is proven theoretically. The simulation results largely confirm the effectiveness of the proposed control.
Study of texture, mechanical and electrical properties of cold drawn AGS alloy wire
H. Farh,M. Zidani,L. Bessais,M.D. Hadid,S. Messaoudi,D. Miroud,M.K. Loudjani,A.L. Helbert,T. Baudin 국제구조공학회 2016 Steel and Composite Structures, An International J Vol.22 No.4
An investigation has been done to study the evolution of the microstructure, mechanical and electrical properties of AlMgSi alloy destined for the transport of electric energy, in function of the deformation caused by the cold drawing process. We identified that drawing of aluminum wire causes development of a fibrous texture of type <111> and <100>. We notice also that the electrical resistivity and mechanical resistance increases with the increasing of the deformation level. Characterization methods used in this work is: The Electron Back Scattered Diffraction EBSD, X-Ray diffraction, Vickers microhardness, Tensile test, Measuring electrical resistivity, the Scanning Electron Microscope (SEM) and Energy Diffraction Spectrum (EDS).
M. E. H. BENBOUZID,D. DIALLO,M. ZERAOULIA,F. ZIDANI 한국자동차공학회 2006 International journal of automotive technology Vol.7 No.6
This paper describes an active fault-tolerant control system for an induction motor drive that propels an Electrical Vehicle (EV) or a Hybrid one (HEV). The proposed system adaptively reorganizes itself in the event of sensor loss or sensor recovery to sustain the best control performance given the complement of remaining sensors. Moreover, the developed system takes into account the controller transition smoothness in terms of speed and torque transients. In this paper which is the sequel of (Diallo et al., 2004), we propose to introduce more advanced and intelligent control techniques to improve the global performance of the fault-tolerant drive for automotive applications (e.g. EVs or HEVs). In fact, two control techniques are chosen to illustrate the consistency of the proposed approach: sliding mode for encoder-based control; and fuzzy logics for sensorless control. Moreover, the system control reorganization is now managed by a fuzzy decision system to improve the transitions smoothness. Simulations tests, in terms of speed and torque responses, have been carried out on a 4㎾ induction motor drive to evaluate the consistency and the performance of the proposed fault-tolerant control approach.
Benbouzid, M.E.H.,Diallo, D.,Zeraoulia, M.,Zidani, F. The Korean Society of Automotive Engineers 2006 International journal of automotive technology Vol.7 No.6
This paper describes an active fault-tolerant control system for an induction motor drive that propels an Electrical Vehicle(EV) or a Hybrid one(HEV). The proposed system adaptively reorganizes itself in the event of sensor loss or sensor recovery to sustain the best control performance given the complement of remaining sensors. Moreover, the developed system takes into account the controller transition smoothness in terms of speed and torque transients. In this paper which is the sequel of (Diallo et al., 2004), we propose to introduce more advanced and intelligent control techniques to improve the global performance of the fault-tolerant drive for automotive applications(e.g. EVs or HEVs). In fact, two control techniques are chosen to illustrate the consistency of the proposed approach: sliding mode for encoder-based control; and fuzzy logics for sensorless control. Moreover, the system control reorganization is now managed by a fuzzy decision system to improve the transitions smoothness. Simulations tests, in terms of speed and torque responses, have been carried out on a 4-kW induction motor drive to evaluate the consistency and the performance of the proposed fault-tolerant control approach.