Papers by L. ABDOU
2017 18th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2017
Linear-Parameter-Varying theory has making a revolution during the last two decades to the study ... more Linear-Parameter-Varying theory has making a revolution during the last two decades to the study of nonlinear control and robust control, because they were taking into consideration the non-stationeries in the model and their uncertainties. In this article we suggest to exploit the LPV theory to design a robust gain-scheduled H» controller applied to an Inverted Pendulum, specifically named Personal Pendulum Vehicle, which is a nonlinear system. The representation of both of the plant and the controller is a Linear-Fractional-Transformation (LFT) based LPV systems. The synthesis of the controller is achieved by scaling small-gain theorem and their tests are applied to the nonlinear model itself.
2018 26th Mediterranean Conference on Control and Automation (MED), 2018
In this paper, robust stabilization of a quadrotor aircraft attitude is investigated. The exact n... more In this paper, robust stabilization of a quadrotor aircraft attitude is investigated. The exact nonlinear attitude of a quadrotor model is presented by Linear-Parameter-Varying system with Linear-Fractional-Transformation representation (LFT-based LPV), when we took the nonlinearities as varying parameters. The closed loop interconnection is established by taking into account the external disturbances, measurement noises and actuator dynamics. The synthesis of H∞ gain-scheduling controller is achieved by scaling small gain theorem when the controller is an LFT-based LPV too. The simulations show the efficiency and the robustness of the proposed controller against the disturbances, noises and parametric uncertainties.
2018 7th International Conference on Systems and Control (ICSC), 2018
In this paper, a hybrid robust control strategy is proposed to solve the trajectory tracking of a... more In this paper, a hybrid robust control strategy is proposed to solve the trajectory tracking of a quadcopter. The quadcopter model is divided into two subsystems; rotational subsystem and translational one. We present the rotational one as a quasi-LPV system and design an LFT-based LPV H∞ controller to achieve the stabilization of the orientation coordinates with taking into account the disturbances and the actuators’ dynamics. On the other hand, in order to guarantee the trajectory tracking, the backstepping controller is designed for the translational subsystem with integral action, to get a null steady state error. The simulation results show the efficiency and the robustness of our controller against disturbances, noises and parametric uncertainties.
International Journal of Dynamics and Control, 2021
In this article, we investigate a robust nonlinear control strategy to solve the trajectory track... more In this article, we investigate a robust nonlinear control strategy to solve the trajectory tracking for a micro unmanned aerial vehicle, the quadrotor. The control technique is the computed torque control (CTC), this technique is widely used in the robot manipulators control. The CTC technique needs a strong knowledge of the model. In this regard, the complete dynamic model of the quadrotor has been established by the Euler–Lagrange formalism. After that, a robust nonlinear H ∞ controller has been designed to stabilize the system with robustness. The proposed controller takes into account the underactuation characteristic of the quadrotor, so the controller is designed for the actuated degrees of freedom (DOF) with their coupling with the underactuated DOF. For the position tracking, we propose the backstepping controller. In both controllers, nonlinear H ∞ and backstepping, the integral action is considered to get a null steady-state error. In order to improve performance quality, the control law has been reinforced by an adaptive action. This last has been performed by the linear parameterization property and the neural networks. The results show efficiency in the parametric uncertainties.
Acta Mechanica et Automatica, 2020
This article investigates the robust stabilization and control of the inverted pendulum on a cart... more This article investigates the robust stabilization and control of the inverted pendulum on a cart against disturbances, measurement noises, and parametric uncertainties by the LFT-based LPV technique (Linear-Fractional-Transformation based Linear-Parameter-Varying). To make the applying of the LPV technique possible, the LPV representation of the inverted pendulum on a cart model is developed. Besides, the underactuated constraint of this vehicle is overcome by considering both degrees of freedom (the rotational one and the translational one) in the structure. Moreover, the selection of the weighting functions that represent the desired performance is solved by two approaches of evolutionary algorithms; Genetic Algorithms (GA) and Evolutionary Strategies (ES) to find the weighting functions’ optimal parameters. To validate the proposed approach, simulations are performed and they show the effectiveness of the proposed approach to obtain robust controllers against external signals, a...
Advances in Technology Innovation, 2020
This article investigates the robust stabilization of the rotational subsystem of a quadrotor aga... more This article investigates the robust stabilization of the rotational subsystem of a quadrotor against external inputs (disturbances, noises, and parametric uncertainties) by the LFT-based LPV technique. By establishing the LPV attitude model, the LPV robust controller is designed for the system. The weighting functions are computed by Cuckoo Search, a meta-heuristic optimization algorithm. Besides, the input saturations are also taken into account through the Anti-Windup compensation technique. Simulation results show the robustness of the closed-loop system against disturbances, measurement noises, and the parametric uncertainties.
Journal of Automation, Mobile Robotics and Intelligent Systems, 2018
Quadrotors represent an effective class of aerial robots because of their abilities to work in sm... more Quadrotors represent an effective class of aerial robots because of their abilities to work in small areas. We suggested in this research paper to develop an algorithm to control a quadrotor, which is a nonlinear MIMO system and strongly coupled, by a linear control technique (PID), while the parameters are tuned by the Genetic Algorithm (GA). The suggested technique allows a decentralized control by decoupling the linked interactions to effect angles on both altitude and translation position. Moreover, the using a meta-heuristic technique enables a certain ability of the system controllers design without being limited by working on just the small angles and stabilizing just the full actuated subsystem. The simulations were implemented in MATLAB/Simulink tool to evaluate the control technique in terms of dynamic performance and stability. Although the controllers design (PID) is simple, it shows the effect of the proposed technique in terms of tracking errors and stability, even with large angles, subsequently, high velocity response and high dynamic performances with practically acceptable rotors speed.
Acta Mechanica et Automatica, 2021
This article investigates the robust stabilization and control of the inverted pendulum on a cart... more This article investigates the robust stabilization and control of the inverted pendulum on a cart against disturbances, measurement noises, and parametric uncertainties by the LFT-based LPV technique (Linear-Fractional-Transformation based Linear-Parameter-Varying). To make the applying of the LPV technique possible, the LPV representation of the inverted pendulum on a cart model is developed. Besides, the underactuated constraint of this vehicle is overcome by considering both degrees of freedom (the rotational one and the translational one) in the structure. Moreover, the selection of the weighting functions that represent the desired performance is solved by two approaches of evolutionary algorithms; Genetic Algorithms (GA) and Evolutionary Strategies (ES) to find the weighting functions' optimal parameters. To validate the proposed approach, simulations are performed and they show the effectiveness of the proposed approach to obtain robust controllers against external signal...
Evolutionary Intelligence
This paper aims to investigate the control of a quadrotor by PID controller. The mathematical mod... more This paper aims to investigate the control of a quadrotor by PID controller. The mathematical model is derived from Euler–Lagrange approach. Due to nonlinearities, coupling and under-actuation constraints, the model imposes difficulties to generate its controller by using classic ways. Firstly, we have designed a control structure which weakens the couplings and permits to develop a decentralized control. Secondly, in order to get the optimal path tracking, the controllers’ parameters were tuned by stochastic nature-inspired algorithms; Genetic Algorithm, Evolution Strategies, Differential Evolutionary and Cuckoo Search. A comparison study between these algorithms according to the path tracking is carried out by implementing simulations under MATLAB/Simulink. The results show the efficiency of the proposed strategy where the optimization algorithms achieve good performance with a slight difference between the indicate techniques.
International Conference on Systems and Control, 2018
In this paper, a hybrid robust control strategy is proposed to solve the trajectory tracking of a... more In this paper, a hybrid robust control strategy is proposed to solve the trajectory tracking of a quadcopter. The quadcopter model is divided into two subsystems; rotational subsystem and translational one. We present the rotational one as a quasi-LPV system and design an LFT-based LPV H ∞ controller to achieve the stabilization of the orientation coordinates with taking into account the disturbances and the actuators' dynamics. On the other hand, in order to guarantee the trajectory tracking, the backstepping controller is designed for the translational subsystem with integral action, to get a null steady state error. The simulation results show the efficiency and the robustness of our controller against disturbances, noises and parametric uncertainties.
Mediterranean Conference on Control and Automation, 2018
−In this paper, robust stabilization of a quadrotor aircraft attitude is investigated. The exact ... more −In this paper, robust stabilization of a quadrotor aircraft attitude is investigated. The exact nonlinear attitude of a quadrotor model is presented by Linear-Parameter-Varying system with Linear-Fractional-Transformation representation (LFT-based LPV), when we took the nonlinearities as varying parameters. The closed loop interconnection is established by taking into account the external disturbances, measurement noises and actuator dynamics. The synthesis of H ∞ gain-scheduling controller is achieved by scaling small gain theorem when the controller is an LFT-based LPV too. The simulations show the efficiency and the robustness of the proposed controller against the disturbances, noises and parametric uncertainties.
2015 4th International Conference on Systems and Control (ICSC), 2015
This paper proposes an application of the simulated annealing to optimize the detection threshold... more This paper proposes an application of the simulated annealing to optimize the detection threshold in an ordered statistics constant false alarm rate (OS-CFAR) system. Using conventional optimization methods, such as the conjugate gradient, can lead to a local optimum and lose the global optimum. Also for a system with a number of sensors that is greater than or equal to three, it is difficult or impossible to find this optimum; Hence, the need to use other methods, such as meta-heuristics. From a variety of meta-heuristic techniques, we can find the Simulated Annealing (SA) method, inspired from a process used in metallurgy. This technique is based on the selection of an initial solution and the generation of a near solution randomly, in order to improve the criterion to optimize. In this work, two parameters will be subject to such optimisation and which are the statistical order (k) and the scaling factor (t). Two fusion rules; “AND” and “OR” were considered in the case where the signals are independent from sensor to sensor. The results showed that the application of the proposed method to the problem of optimisation in a distributed system is efficiency to resolve such problems. The advantage of this method is that it allows to browse the entire solutions space and to avoid theoretically the stagnation of the optimization process in an area of local minimum.
2014 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2014
This paper deals with non linear backstepping control of induction motor drive without encoder. N... more This paper deals with non linear backstepping control of induction motor drive without encoder. Non linear backstepping control principle is explained using system equation established in stationary reference frame. This control is based on Lyapunov theory to guarantee the convergence of the speed and flux tracking errors, and is optimized by genetic algorithm. This last model needs to obtain accurate information about the rotor flux and rotor speed, which are estimated by model reference adaptive system (MRAS) technique. The aim advantage of this scheme is that the machine control becomes more stable with an improvement of low speed performances where the torques capabilities are sufficiently developed. The simulation results show the improved drive characteristics and performances.
Systems, Signals and Devices, 2008
... IMPROVEMENT OF THE PERFORMANCE OF DISTRIBUTED OS-CFAR SYSTEM BY (Jl+A)-ES OPTIMISATION Latifa... more ... IMPROVEMENT OF THE PERFORMANCE OF DISTRIBUTED OS-CFAR SYSTEM BY (Jl+A)-ES OPTIMISATION Latifa Abdou] and Faouzi Soltani 2 ... Elias-Fuste and al in [4] proposed another manner to merge the results from detectors to have the final result. ...
International Journal of Dynamics and Control, 2021
Adaptive nonlinear robust control of an underactuated micro UAV Abstract: In this article, we inv... more Adaptive nonlinear robust control of an underactuated micro UAV Abstract: In this article, we investigate a robust nonlinear control strategy to solve the trajectory tracking for a micro unmanned aerial vehicle, the quadrotor. The control technique is the Computed Torque Control (CTC), this technique is widely used in the robot manipulators control. The CTC technique needs a strong knowledge of the model. In this regard, the complete dynamic model of the quadrotor has been established by the Euler-Lagrange formalism. After that, a robust nonlinear H ∞ controller has been designed to stabilize the system with robustness. The proposed controller takes into account the underactuation characteristic of the quadrotor, so the controller is designed for the actuated Degrees Of Freedom (DOF) with their coupling with the underactuated DOF. For the position tracking, we propose the Backstepping controller. In both controllers, nonlinear H ∞ and Backstepping, the integral action is considered to get a null steady-state error. In order to improve performance quality, the control law has been reinforced by an adaptive action. This last has been performed by the linear parameterization property and the neural networks. The results show efficiency in the parametric uncertainties.
Advances in Technology Innovation, 2020
This article investigates the robust stabilization of the rotational subsystem of a quadrotor aga... more This article investigates the robust stabilization of the rotational subsystem of a quadrotor against external inputs (disturbances, noises, and parametric uncertainties) by the LFT-based LPV technique. By establishing the LPV attitude model, the LPV robust controller is designed for the system. The weighting functions are computed by Cuckoo Search, a meta-heuristic optimization algorithm. Besides, the input saturations are also taken into account through the Anti-Windup compensation technique. Simulation results show the robustness of the closed-loop system against disturbances, measurement noises, and the parametric uncertainties.
Journal of Automation, Mobile Robotics & Intelligent Systems, 2018
Quadrotors represent an effective class of aerial robots because of their abilities to work in sm... more Quadrotors represent an effective class of aerial robots because of their abilities to work in small areas. We suggested in this research paper to develop an algorithm to control a quadrotor, which is a nonlinear MIMO system and strongly coupled, by a linear control technique (PID), while the parameters are tuned by the Genetic Algorithm (GA). The suggested technique allows a decentralized control by decoupling the linked interactions to effect angles on both altitude and translation position. Moreover, the using a meta-heuristic technique enables a certain ability of the system controllers design without being limited by working on just the small angles and stabilizing just the full actuated subsystem. The simulations were implemented in MATLAB/Simulink tool to evaluate the control technique in terms of dynamic performance and stability. Although the controllers design (PID) is simple, it shows the effect of the proposed technique in terms of tracking errors and stability, even with large angles, subsequently, high velocity response and high dynamic performances with practically acceptable rotors speed.
Conference Presentations by L. ABDOU
International Conference on Sciences and Techniques of Automatic control and compyter engineering, 2017
Linear-Parameter-Varying theory has been making a revolution during the last two decades to the s... more Linear-Parameter-Varying theory has been making a revolution during the last two decades to the study of nonlinear control and robust control, because they were taking into considerations the non-stationeries in the model and their uncertainties. In this article we suggest to exploit the LPV theory to design a robust gain-scheduled H ∞ controller applied to an Inverted Pendulum, specifically named Personal Pendulum Vehicle, which is a nonlinear system. The representation of both of the plant and the controller is a Linear-Fractional-Transformation (LFT) based LPV systems. The synthesis of the controller is achieved by scaling small-gain theorem and their tests are applied to the nonlinear model itself.
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Papers by L. ABDOU
Conference Presentations by L. ABDOU