HAL (Le Centre pour la Communication Scientifique Directe), Jun 7, 2018
Thèmes-Automatique, Robotique Résumé-L'objectif de ce papier est de synthétiser une commande H ∞ ... more Thèmes-Automatique, Robotique Résumé-L'objectif de ce papier est de synthétiser une commande H ∞ basée observateur pour stabiliser un robotà bras articulé. Dans un premier temps, lesétapes de modélisation du robot sont présentées. Un modèle non linéaire temps discret est alors obtenu. Afin d'estimer les grandeurs non accessibles décrivant le comportement du procédé, un observateur de Luenberger est utilisé. Ce type d'observateur est conçu de telle sorte que la différence entre les valeurs desétats réels et celles desétats estimés converge asymptotiquement vers zéro. L'estimation d'état est ensuite utilisée pourélaborer une loi de commande H ∞ garantissant une atténuation des perturbations qui affectent le robot. Des conditions suffisantes,écrites sous forme d'inégalité linéaire matricielle (LMI), sontétablies pour assurer la stabilisation du système. Enfin, une simulation numérique est présenté pour démontrer l'applicabilité de l'approche proposée. Mots-clés-Commande, observateur, robotà bras articulé.
This paper demonstrates the observer design for large class of nonlinear discrete time systems. T... more This paper demonstrates the observer design for large class of nonlinear discrete time systems. The use of the differential mean value theorem (DMVT) allows transforming the nonlinear error dynamics into a linear parameter varying (LPV) system. This has the advantage of introducing a general condition on the nonlinear functions. To ensure asymptotic stability, sufficient conditions are expressed in terms of linear matrix inequalities (LMIs). For comparison, an observer based on the use of the one-sided Lipschitz condition is introduced. High performances are shown through real time implementation of the one-link flexible joint robot to ARDUINO MEGA 2560 device.
HAL (Le Centre pour la Communication Scientifique Directe), Jun 7, 2018
Thèmes-Automatique, Robotique Résumé-L'objectif de ce papier est de synthétiser une commande H ∞ ... more Thèmes-Automatique, Robotique Résumé-L'objectif de ce papier est de synthétiser une commande H ∞ basée observateur pour stabiliser un robotà bras articulé. Dans un premier temps, lesétapes de modélisation du robot sont présentées. Un modèle non linéaire temps discret est alors obtenu. Afin d'estimer les grandeurs non accessibles décrivant le comportement du procédé, un observateur de Luenberger est utilisé. Ce type d'observateur est conçu de telle sorte que la différence entre les valeurs desétats réels et celles desétats estimés converge asymptotiquement vers zéro. L'estimation d'état est ensuite utilisée pourélaborer une loi de commande H ∞ garantissant une atténuation des perturbations qui affectent le robot. Des conditions suffisantes,écrites sous forme d'inégalité linéaire matricielle (LMI), sontétablies pour assurer la stabilisation du système. Enfin, une simulation numérique est présenté pour démontrer l'applicabilité de l'approche proposée. Mots-clés-Commande, observateur, robotà bras articulé.
2018 26th Mediterranean Conference on Control and Automation (MED), 2018
Within the paper, a relevant H∞observer-based controller design for a class of Lipschitz nonlinea... more Within the paper, a relevant H∞observer-based controller design for a class of Lipschitz nonlinear discrete-time systems is proposed. Usually, Bilinear Matrix Inequaities (BMIs) are obtained from the resolution of the observer-based stabilization design problem for this class of systems. Since, the resolution of a BMI is a hard task, then it is interesting to search for a convenient way to linearize the obtained conditions. Therefore, the objective of this paper is to present new Linear Matrix Inequality (LMI) conditions ensuring the convergence of the observer-based controller in a noisy context. Thanks to the introduction of a slack variable the presented LMI conditions are more general and less conservative than the existence ones. Indeed, reformulations of the Lipschitz property and Young's relation in a convenient way lead to a more relaxed new LMI. A numerical example is implemented to show high performances of the proposed design methodology with respect to some existing results.
Congrès National de la Recherche en IUT, CNRIUT'2018, Jun 7, 2018
HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific re... more HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.
IEEE Transactions on Circuits and Systems II: Express Briefs, 2020
This brief proposes a design of new Sliding Mode Control (SMC) for Lipschitz nonlinear systems in... more This brief proposes a design of new Sliding Mode Control (SMC) for Lipschitz nonlinear systems in a new Reciprocal State Space (RSS) framework. The main objective is to extend the state derivative feedback stabilization methods in SMC designs. The presented SMC law involves the use of RSS feedback approach based on the proper Lyapunov functions. The asymptotic stability of the closed-loop SMC system is guaranteed by two forms of Sliding Mode Surface (SMS). The first method deals with the use of Standard Sliding Function (SSF). The second one is developed with an Integral-type Sliding Function (ISF). The SMC law design resolution problem is ensured through a Linear Matrix Inequalities (LMI) technique under certain conditions. Experimental results show high performances of the proposed approach using Real Time Implementation (RTI) with Digital Signal Processing (DSP) device (DSpace DS 1104).
Bulletin of Electrical Engineering and Informatics
In industrials process and many studies cases, state and output derivative variables can be easil... more In industrials process and many studies cases, state and output derivative variables can be easily modeled in reciprocal state space (RSS) form than the standard one. Formulation of stabilization problem with a guaranteed cost control using feedback principle for Lipschitz nonlinear systems (LNS) in RSS is presented in this brief. The asymptotic stability, using the proper Lyapunov functions of the closed-loop system, is guaranteed. The control design problem is guaranteed through a resolution of linear matrix inequalities (LMI) technique under certain lemmas and minimization of non-standard cost control. Experimental validation shows the good performances of the proposed method using real-time implementation (RTI) with a digital signal processing (DSP) device (Arduino MEGA 2560).
IEEE Transactions on Control Systems Technology, 2017
This brief proposes design of a robust observerbased feedback stabilization for Lipschitz nonline... more This brief proposes design of a robust observerbased feedback stabilization for Lipschitz nonlinear systems. The objective is the use of the differential mean value theorem to introduce a general condition on the nonlinear functions. To ensure asymptotic stability, sufficient conditions that are expressed in terms of linear matrix inequalities. High performances are shown through real-time implementation with digital signal processing device (ARDUINO MEGA 2560).
2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2015
The objective of this paper is the synthesis of decentralized state observers for large class of ... more The objective of this paper is the synthesis of decentralized state observers for large class of nonlinear interconnected systems. The procedure uses the Differential Mean Value Theorem (DMVT) to simplify the design of estimation and control matrices gains. A general condition on the non linear time-varying interconnections functions is introduced. To ensure asymptotic stability, sufficient conditions are formulated in Linear Matrix Inequalities (LMIs). High performances are shown through numerical simulation.
This paper demonstrates the observer design for large class of nonlinear discrete time systems. T... more This paper demonstrates the observer design for large class of nonlinear discrete time systems. The use of the differential mean value theorem (DMVT) allows transforming the nonlinear error dynamics into a linear parameter varying (LPV) system. This has the advantage of introducing a general condition on the nonlinear functions. To ensure asymptotic stability, sufficient conditions are expressed in terms of linear matrix inequalities (LMIs). For comparison, an observer based on the use of the one-sided Lipschitz condition is introduced. High performances are shown through real time implementation of the one-link flexible joint robot to ARDUINO MEGA 2560 device.
International Journal for Simulation and Multidisciplinary Design Optimization, 2009
In this paper, we present a study dealing with stabilizing and robust controllers synthesis, prec... more In this paper, we present a study dealing with stabilizing and robust controllers synthesis, precisely the Fault Tolerant Control (FTC). The case where these controllers are calculated by GIMC (Generalized Internal Model Control) structure will be developed and applied to a Phase-locked Loop (PLL) Identifier Module. In each case, we will focus on the control and the system output evolutions in the defects event. We will show the control quality and the advantages offered by GIMC structure in the transitory mode and the permanent one.
International Journal of Computer Applications, 2012
This paper investigates a method for the state estimation of nonlinear systems described by a cla... more This paper investigates a method for the state estimation of nonlinear systems described by a class of differentialalgebraic equation (DAE) models using the extended Kalman filter. The method involves the use of a transformation from a DAE to ordinary differential equation (ODE). A relevant dynamic power systems model using decoupled techniques will be proposed. The estimation technique consists of a state estimator based on the EKF technique as well as local stability analysis. High performances are illustrated through a real time application on 5 buses test system with DSP device (Dspace DS1104).
This paper investigates a method for the state estimation of nonlinear systems described by a cla... more This paper investigates a method for the state estimation of nonlinear systems described by a class of differentialalgebraic equation (DAE) models using the extended Kalman filter. The method involves the use of a transformation from a DAE to ordinary differential equation (ODE). A relevant dynamic power system model using decoupled techniques will be proposed. The estimation technique consists of a state estimator based on the EKF technique as well as the local stability analysis. High performances are illustrated through a simulation study applied on IEEE 13 buses test system.
International Review of Electrical Engineering-iree, 2010
In this paper, we present a study and evaluation of modified methods of calculating the load flow... more In this paper, we present a study and evaluation of modified methods of calculating the load flow and the state estimation of power systems. We present basic algorithms and its modified versions, with a comparative study and evaluation of stability analysis and the various criteria of CPU time, computing time, memory capacity and the number of iteration in order to optimize the computing speed. The study is applied on IEEE 13 and 24 buses test systems
This paper proposes a design of a robust and a simplified dynamic model for a class of cables rob... more This paper proposes a design of a robust and a simplified dynamic model for a class of cables robots in an under-actuated mode. The objective is to use the underactuated mode to provide a robust dynamic model which is derived from geometric and Kinematic equations. The analysis of the system is ensured under severe constraints on the cables robot. An extension to control, based an observer by comparing two methods, is given when the observer is designed independently of the controller. The two observers are the EKE and the SODTSM Observer. High performances are shown through numerical simulation.
2017 4th International Conference on Control, Decision and Information Technologies (CoDIT), 2017
This paper focuses on the problem of observer-based distributed guaranteed cost control for large... more This paper focuses on the problem of observer-based distributed guaranteed cost control for large scale nonlinear interconnected systems with a chosen quadratic cost function. The aim is to ensures closed-loop stability and guaranteed cost for all planned parameter changes. For that, differential mean value theorem is used to introduce a general condition on the nonlinear time-varying interconnections functions. The obtained design procedures are formulated in the form of Linear matrix in-equalities (LMIs) by using the Lyapunovs direct method stability analysis. Effectiveness of the proposed scheme is verified through simulation results on a power system with three interconnected machines.
HAL (Le Centre pour la Communication Scientifique Directe), Jun 7, 2018
Thèmes-Automatique, Robotique Résumé-L'objectif de ce papier est de synthétiser une commande H ∞ ... more Thèmes-Automatique, Robotique Résumé-L'objectif de ce papier est de synthétiser une commande H ∞ basée observateur pour stabiliser un robotà bras articulé. Dans un premier temps, lesétapes de modélisation du robot sont présentées. Un modèle non linéaire temps discret est alors obtenu. Afin d'estimer les grandeurs non accessibles décrivant le comportement du procédé, un observateur de Luenberger est utilisé. Ce type d'observateur est conçu de telle sorte que la différence entre les valeurs desétats réels et celles desétats estimés converge asymptotiquement vers zéro. L'estimation d'état est ensuite utilisée pourélaborer une loi de commande H ∞ garantissant une atténuation des perturbations qui affectent le robot. Des conditions suffisantes,écrites sous forme d'inégalité linéaire matricielle (LMI), sontétablies pour assurer la stabilisation du système. Enfin, une simulation numérique est présenté pour démontrer l'applicabilité de l'approche proposée. Mots-clés-Commande, observateur, robotà bras articulé.
This paper demonstrates the observer design for large class of nonlinear discrete time systems. T... more This paper demonstrates the observer design for large class of nonlinear discrete time systems. The use of the differential mean value theorem (DMVT) allows transforming the nonlinear error dynamics into a linear parameter varying (LPV) system. This has the advantage of introducing a general condition on the nonlinear functions. To ensure asymptotic stability, sufficient conditions are expressed in terms of linear matrix inequalities (LMIs). For comparison, an observer based on the use of the one-sided Lipschitz condition is introduced. High performances are shown through real time implementation of the one-link flexible joint robot to ARDUINO MEGA 2560 device.
HAL (Le Centre pour la Communication Scientifique Directe), Jun 7, 2018
Thèmes-Automatique, Robotique Résumé-L'objectif de ce papier est de synthétiser une commande H ∞ ... more Thèmes-Automatique, Robotique Résumé-L'objectif de ce papier est de synthétiser une commande H ∞ basée observateur pour stabiliser un robotà bras articulé. Dans un premier temps, lesétapes de modélisation du robot sont présentées. Un modèle non linéaire temps discret est alors obtenu. Afin d'estimer les grandeurs non accessibles décrivant le comportement du procédé, un observateur de Luenberger est utilisé. Ce type d'observateur est conçu de telle sorte que la différence entre les valeurs desétats réels et celles desétats estimés converge asymptotiquement vers zéro. L'estimation d'état est ensuite utilisée pourélaborer une loi de commande H ∞ garantissant une atténuation des perturbations qui affectent le robot. Des conditions suffisantes,écrites sous forme d'inégalité linéaire matricielle (LMI), sontétablies pour assurer la stabilisation du système. Enfin, une simulation numérique est présenté pour démontrer l'applicabilité de l'approche proposée. Mots-clés-Commande, observateur, robotà bras articulé.
2018 26th Mediterranean Conference on Control and Automation (MED), 2018
Within the paper, a relevant H∞observer-based controller design for a class of Lipschitz nonlinea... more Within the paper, a relevant H∞observer-based controller design for a class of Lipschitz nonlinear discrete-time systems is proposed. Usually, Bilinear Matrix Inequaities (BMIs) are obtained from the resolution of the observer-based stabilization design problem for this class of systems. Since, the resolution of a BMI is a hard task, then it is interesting to search for a convenient way to linearize the obtained conditions. Therefore, the objective of this paper is to present new Linear Matrix Inequality (LMI) conditions ensuring the convergence of the observer-based controller in a noisy context. Thanks to the introduction of a slack variable the presented LMI conditions are more general and less conservative than the existence ones. Indeed, reformulations of the Lipschitz property and Young's relation in a convenient way lead to a more relaxed new LMI. A numerical example is implemented to show high performances of the proposed design methodology with respect to some existing results.
Congrès National de la Recherche en IUT, CNRIUT'2018, Jun 7, 2018
HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific re... more HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.
IEEE Transactions on Circuits and Systems II: Express Briefs, 2020
This brief proposes a design of new Sliding Mode Control (SMC) for Lipschitz nonlinear systems in... more This brief proposes a design of new Sliding Mode Control (SMC) for Lipschitz nonlinear systems in a new Reciprocal State Space (RSS) framework. The main objective is to extend the state derivative feedback stabilization methods in SMC designs. The presented SMC law involves the use of RSS feedback approach based on the proper Lyapunov functions. The asymptotic stability of the closed-loop SMC system is guaranteed by two forms of Sliding Mode Surface (SMS). The first method deals with the use of Standard Sliding Function (SSF). The second one is developed with an Integral-type Sliding Function (ISF). The SMC law design resolution problem is ensured through a Linear Matrix Inequalities (LMI) technique under certain conditions. Experimental results show high performances of the proposed approach using Real Time Implementation (RTI) with Digital Signal Processing (DSP) device (DSpace DS 1104).
Bulletin of Electrical Engineering and Informatics
In industrials process and many studies cases, state and output derivative variables can be easil... more In industrials process and many studies cases, state and output derivative variables can be easily modeled in reciprocal state space (RSS) form than the standard one. Formulation of stabilization problem with a guaranteed cost control using feedback principle for Lipschitz nonlinear systems (LNS) in RSS is presented in this brief. The asymptotic stability, using the proper Lyapunov functions of the closed-loop system, is guaranteed. The control design problem is guaranteed through a resolution of linear matrix inequalities (LMI) technique under certain lemmas and minimization of non-standard cost control. Experimental validation shows the good performances of the proposed method using real-time implementation (RTI) with a digital signal processing (DSP) device (Arduino MEGA 2560).
IEEE Transactions on Control Systems Technology, 2017
This brief proposes design of a robust observerbased feedback stabilization for Lipschitz nonline... more This brief proposes design of a robust observerbased feedback stabilization for Lipschitz nonlinear systems. The objective is the use of the differential mean value theorem to introduce a general condition on the nonlinear functions. To ensure asymptotic stability, sufficient conditions that are expressed in terms of linear matrix inequalities. High performances are shown through real-time implementation with digital signal processing device (ARDUINO MEGA 2560).
2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2015
The objective of this paper is the synthesis of decentralized state observers for large class of ... more The objective of this paper is the synthesis of decentralized state observers for large class of nonlinear interconnected systems. The procedure uses the Differential Mean Value Theorem (DMVT) to simplify the design of estimation and control matrices gains. A general condition on the non linear time-varying interconnections functions is introduced. To ensure asymptotic stability, sufficient conditions are formulated in Linear Matrix Inequalities (LMIs). High performances are shown through numerical simulation.
This paper demonstrates the observer design for large class of nonlinear discrete time systems. T... more This paper demonstrates the observer design for large class of nonlinear discrete time systems. The use of the differential mean value theorem (DMVT) allows transforming the nonlinear error dynamics into a linear parameter varying (LPV) system. This has the advantage of introducing a general condition on the nonlinear functions. To ensure asymptotic stability, sufficient conditions are expressed in terms of linear matrix inequalities (LMIs). For comparison, an observer based on the use of the one-sided Lipschitz condition is introduced. High performances are shown through real time implementation of the one-link flexible joint robot to ARDUINO MEGA 2560 device.
International Journal for Simulation and Multidisciplinary Design Optimization, 2009
In this paper, we present a study dealing with stabilizing and robust controllers synthesis, prec... more In this paper, we present a study dealing with stabilizing and robust controllers synthesis, precisely the Fault Tolerant Control (FTC). The case where these controllers are calculated by GIMC (Generalized Internal Model Control) structure will be developed and applied to a Phase-locked Loop (PLL) Identifier Module. In each case, we will focus on the control and the system output evolutions in the defects event. We will show the control quality and the advantages offered by GIMC structure in the transitory mode and the permanent one.
International Journal of Computer Applications, 2012
This paper investigates a method for the state estimation of nonlinear systems described by a cla... more This paper investigates a method for the state estimation of nonlinear systems described by a class of differentialalgebraic equation (DAE) models using the extended Kalman filter. The method involves the use of a transformation from a DAE to ordinary differential equation (ODE). A relevant dynamic power systems model using decoupled techniques will be proposed. The estimation technique consists of a state estimator based on the EKF technique as well as local stability analysis. High performances are illustrated through a real time application on 5 buses test system with DSP device (Dspace DS1104).
This paper investigates a method for the state estimation of nonlinear systems described by a cla... more This paper investigates a method for the state estimation of nonlinear systems described by a class of differentialalgebraic equation (DAE) models using the extended Kalman filter. The method involves the use of a transformation from a DAE to ordinary differential equation (ODE). A relevant dynamic power system model using decoupled techniques will be proposed. The estimation technique consists of a state estimator based on the EKF technique as well as the local stability analysis. High performances are illustrated through a simulation study applied on IEEE 13 buses test system.
International Review of Electrical Engineering-iree, 2010
In this paper, we present a study and evaluation of modified methods of calculating the load flow... more In this paper, we present a study and evaluation of modified methods of calculating the load flow and the state estimation of power systems. We present basic algorithms and its modified versions, with a comparative study and evaluation of stability analysis and the various criteria of CPU time, computing time, memory capacity and the number of iteration in order to optimize the computing speed. The study is applied on IEEE 13 and 24 buses test systems
This paper proposes a design of a robust and a simplified dynamic model for a class of cables rob... more This paper proposes a design of a robust and a simplified dynamic model for a class of cables robots in an under-actuated mode. The objective is to use the underactuated mode to provide a robust dynamic model which is derived from geometric and Kinematic equations. The analysis of the system is ensured under severe constraints on the cables robot. An extension to control, based an observer by comparing two methods, is given when the observer is designed independently of the controller. The two observers are the EKE and the SODTSM Observer. High performances are shown through numerical simulation.
2017 4th International Conference on Control, Decision and Information Technologies (CoDIT), 2017
This paper focuses on the problem of observer-based distributed guaranteed cost control for large... more This paper focuses on the problem of observer-based distributed guaranteed cost control for large scale nonlinear interconnected systems with a chosen quadratic cost function. The aim is to ensures closed-loop stability and guaranteed cost for all planned parameter changes. For that, differential mean value theorem is used to introduce a general condition on the nonlinear time-varying interconnections functions. The obtained design procedures are formulated in the form of Linear matrix in-equalities (LMIs) by using the Lyapunovs direct method stability analysis. Effectiveness of the proposed scheme is verified through simulation results on a power system with three interconnected machines.
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