Ahmed Rachid

Sliding mode input-output linearization and field orientation for real-time control of induction motors

This paper deals with real-time control of an induction motor based on a digital signal processor (DSP) TMS320C31/40-MHz-based system. A sliding mode controller (SMC) is presented and compared with the well-known field orientation and input-output linearization techniques. To estimate the rotor flux, a sliding mode observer is used. Experimental results are given to highlight the performances and disadvantages of these methods with respect to rotor resistance variations.

Explicit formulas for fuzzy controller

Abstract In this paper we present some explicit formulas of fuzzy control in the simple case of one condition. These formulas are then used on the one hand to study the effects of some design factors (inference operators, number of partitions, etc.) and on the other hand to carry out simulations.

Fuzzy control of a mobile robot: a new approach

This paper presents a new approach to design a fuzzy controller for backing up a mobile robot. After making the dynamics of the mobile robot interpolated by two linear systems, a general analysis and design method are proposed to stabilize it with two fuzzy rules. The method is based on converting the stability analysis of a fuzzy control system to the stability analysis of an overvaluing system for the mobile robot. A sufficient condition based on the use of the comparison system is deduced to guarantee the stability of the mobile robot. To highlight the performance of the new proposed technique, simulation results are presented.

Invariant Manifold Approach for the Stabilization of Nonholonomic Chained Systems: Application to a Mobile Robot

In this paper it is shown that a class ofn-dimensional nonholonomic chained systems can bestabilized using the invariant manifold approach. First, we derive aninvariant manifold for this class of systems and we show that, once onit, all the closed-loop trajectories tend to the origin under a linearsmooth time-invariant state feedback. Thereafter, it is shown that thismanifold can be made attractive by means of a discontinuoustime-invariant state feedback. Finally, a mobile robot is taken as anexample demonstrating the effectiveness of our study.

Invariant manifold approach for the stabilization of nonholonomic systems in chained form: application to a car-like mobile robot

It is shown that the class of n-dimensional nonholonomic chained systems can be exponentially stabilized using the invariant manifold techniques. To this end, an invariant manifold, on which all the closed-loop trajectories tend to the origin, is derived for this class of systems under a linear smooth time-invariant state feedback. Thereafter, this manifold is made attractive by means of a discontinuous, time-invariant, state feedback. The proposed control scheme ensures exponential stability of the closed-loop system in a large domain excluding, at the initial time, the null value of the first state variable. Finally, our controller is applied for the stabilization of a car-like mobile robot and simulation results are given to highlight its effectiveness.

Discontinuous control design for the stabilization of nonholonomic systems in chained form using the backstepping approach

This paper presents a new systematic way, based on the backstepping approach, to design discontinuous time-invariant state feedback controllers for exponential stabilization of nonholonomic systems in chained form. The enclosed simulation results show the effectiveness of the proposed controller.

Pantograph catenary control and observation using the LMI approach

This paper deals with the control of the Pantograph-catenary interaction for high-speed-trains. This problem is directly related to the electric train current collection quality and efficiency. Our main contributions are the derivation of new mathematical description in terms of a multiple model as an alternative to existing time varying ones and further the proposition of an LMI control law to keep the contact force between the pantograph and the catenary close to a desired value in various operating conditions.

Analytic formulation of linguistic rules for fuzzy controller

In this paper, an analytic formulation of a fuzzy controller using rules with two conditions is given. This formulation will be exploited in order to prove the nonlinearity of the controller and to establish equivalence between fuzzy controllers and PI ones.

Optimal Control of a Turbocharged Diesel Engine Using Neural Network

Abstract This paper describes an optimal neural controller, applied to a turbocharger diesel engine. It presents the training of a neural controller, based on the theory of backpropagation, for trajectory tracking of the engine speed. The Gauss-Newton algorithm will be explained in a recursive manner, including a forgetting factor for time varying systems. Some simulation results are presented.

Modeling and Simulation of a Lead-Acid Battery Packs in MATLAB/Simulink: Parameters Identification Using Extended Kalman Filter Algorithm

This paper proposes a simulation results of a mathematical model of a lead-acid batteries, derived of the equivalent electric circuit. The model has been developed in MATLAB/Simulink. This ameliorated Thevenin battery model conceders the hysteresis phenomena effects on battery cells behaviour. A method based on Extended Kalman Filter (EKF) was designed to estimate the models parameters. Next, an automated test bench was set up to identify the parameter of the model and experimentally verify the theoretical analysis and simulation. Finally, the simulation results are compared to the real measurements, obtained by a real time test on an electric scooter (two wheels electric vehicle), witch was driven in a circuit of 15km in the downtown of Amiens city, in France. The mathematical model proposed in this paper is a modified Thevenin model. It is derived of the electric equivalent circuit of the battery. A model witch should be accurate enough to avoid the batteries damage and should be simple to be easy to implement, thereafter, in an embedded circuit based on a micro-controller.