We investigate the cooperative control and global asymptotic synchronization Lagrangian system gr... more We investigate the cooperative control and global asymptotic synchronization Lagrangian system groups, such as industrial robots. The proposed control approach works to accomplish multirobot systems synchronization under an undirected connected communication topology. The control strategy is to synchronize each robot in position and velocity to others robots in the network with respect to the common desired trajectory. The cooperative robot network only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of an explicit leader in the team. It is assumed that network robots have the same number of joints and equivalent joint work spaces. A combination of the lyapunov-based technique and the cross-coupling method has been used to establish the multirobot system asymptotic stability. The developed control combines trajectory tracking and coordination algorithms. To address the time-delay problem in the cooperative network commu...
International Journal of Modelling, Identification and Control, 2012
ABSTRACT Preshaping approach is used to reduce system vibration in motion control. Desired system... more ABSTRACT Preshaping approach is used to reduce system vibration in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual vibration. This technique, developed by Singer and Seering, is used for flexible structure control, particularly in the aerospace field. In a previous work, this method was extended for explicit fractional derivative systems and applied to second generation CRONE control, the robustness was also studied. CRONE (the French acronym of 'commande robuste d'ordre non-entier') control system design is a frequency-domain-based methodology using complex fractional integration. It permits the robust control of perturbed linear plants using the common unity feedback configuration. This paper presents the extension of the preshaping approach to generalised derivative systems and its application to third generation CRONE control. Then, to ensure robust path tracking, a robust algorithm for the shaper synthesis is developed.
2008 First Workshops on Image Processing Theory, Tools and Applications, 2008
Content-based image retrieval (CBIR) techniques are becoming increasingly important in various fi... more Content-based image retrieval (CBIR) techniques are becoming increasingly important in various fields. One of the most important steps in CBIR systems is feature extraction. However, using not appropriate features in heterogeneous image database during retrieval process does not provide a complete description of an image. Indeed, each feature is able to describe some characteristics related to the shape, the color
2008 First Workshops on Image Processing Theory, Tools and Applications, 2008
Abstract In this article, we present a new mass description dedicated to differentiate between di... more Abstract In this article, we present a new mass description dedicated to differentiate between different mass shapes in mammography. This discrimination aims to reach a better mammography classification rate to be used by radiologists as a second opinion to make ...
Controlling an underactuated manipulator with less actuators than degree of freedom is a challeng... more 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...
... Adel M. ALIMI, Nabil DERBEL, Abderrazak OUALI, and Mohamed BA KAMOUN ... The mwt reahtic ddpt... more ... Adel M. ALIMI, Nabil DERBEL, Abderrazak OUALI, and Mohamed BA KAMOUN ... The mwt reahtic ddption of a multiple eWuent rtream wm given by Tamura [28] who asrumad that each reachwan 482 Page 4. separated from the next by a distributed delay. ...
ABSTRACT We study the control of inter-connected systems with slow and fast modes. The classical ... more ABSTRACT We study the control of inter-connected systems with slow and fast modes. The classical approach of control was to reduce the model of the system by keeping only the slow modes. This approach has the advantage to simplify the control problem, however it has the disadvantage to lose some states of the system. The hierarchical approach of control is proposed to solve such a problem. In fact, it permits to resolve reduced order models at the lower stages of the control hierarchy by decomposing the global system into several subsystems corresponding to each mode. By this way, the control problem of the global system is resolved with no states lost and by using reduced order subsystems. To validate our approach, we apply the hierarchical control to a doubly fed synchronous machine (DFSM) having a sixth order model with 3 modes
This paper is aimed at looking into the generation of a fuzzy rule base in order to control a mob... more This paper is aimed at looking into the generation of a fuzzy rule base in order to control a mobile robot in a navigation space. The procedure is based on a partitioning of the state space into subsets called cell groups. Membership functions are assigned for the state and controls. The ...
Second IEEE Confirence on Control Applications, !September 13 - 16, 1993 Vancouver, BC ... Hierar... more Second IEEE Confirence on Control Applications, !September 13 - 16, 1993 Vancouver, BC ... Hierarchical Control Applied to a Large Scale Time-Delay ... Adel M. ALIMI, Nabil DERBEL, Abderrazak OUALI, and Mohamed BA KAMOUN ... Laboratory of Electrotechnics and ...
We investigate the cooperative control and global asymptotic synchronization Lagrangian system gr... more We investigate the cooperative control and global asymptotic synchronization Lagrangian system groups, such as industrial robots. The proposed control approach works to accomplish multirobot systems synchronization under an undirected connected communication topology. The control strategy is to synchronize each robot in position and velocity to others robots in the network with respect to the common desired trajectory. The cooperative robot network only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of an explicit leader in the team. It is assumed that network robots have the same number of joints and equivalent joint work spaces. A combination of the lyapunov-based technique and the cross-coupling method has been used to establish the multirobot system asymptotic stability. The developed control combines trajectory tracking and coordination algorithms. To address the time-delay problem in the cooperative network commu...
International Journal of Modelling, Identification and Control, 2012
ABSTRACT Preshaping approach is used to reduce system vibration in motion control. Desired system... more ABSTRACT Preshaping approach is used to reduce system vibration in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual vibration. This technique, developed by Singer and Seering, is used for flexible structure control, particularly in the aerospace field. In a previous work, this method was extended for explicit fractional derivative systems and applied to second generation CRONE control, the robustness was also studied. CRONE (the French acronym of 'commande robuste d'ordre non-entier') control system design is a frequency-domain-based methodology using complex fractional integration. It permits the robust control of perturbed linear plants using the common unity feedback configuration. This paper presents the extension of the preshaping approach to generalised derivative systems and its application to third generation CRONE control. Then, to ensure robust path tracking, a robust algorithm for the shaper synthesis is developed.
2008 First Workshops on Image Processing Theory, Tools and Applications, 2008
Content-based image retrieval (CBIR) techniques are becoming increasingly important in various fi... more Content-based image retrieval (CBIR) techniques are becoming increasingly important in various fields. One of the most important steps in CBIR systems is feature extraction. However, using not appropriate features in heterogeneous image database during retrieval process does not provide a complete description of an image. Indeed, each feature is able to describe some characteristics related to the shape, the color
2008 First Workshops on Image Processing Theory, Tools and Applications, 2008
Abstract In this article, we present a new mass description dedicated to differentiate between di... more Abstract In this article, we present a new mass description dedicated to differentiate between different mass shapes in mammography. This discrimination aims to reach a better mammography classification rate to be used by radiologists as a second opinion to make ...
Controlling an underactuated manipulator with less actuators than degree of freedom is a challeng... more 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...
... Adel M. ALIMI, Nabil DERBEL, Abderrazak OUALI, and Mohamed BA KAMOUN ... The mwt reahtic ddpt... more ... Adel M. ALIMI, Nabil DERBEL, Abderrazak OUALI, and Mohamed BA KAMOUN ... The mwt reahtic ddption of a multiple eWuent rtream wm given by Tamura [28] who asrumad that each reachwan 482 Page 4. separated from the next by a distributed delay. ...
ABSTRACT We study the control of inter-connected systems with slow and fast modes. The classical ... more ABSTRACT We study the control of inter-connected systems with slow and fast modes. The classical approach of control was to reduce the model of the system by keeping only the slow modes. This approach has the advantage to simplify the control problem, however it has the disadvantage to lose some states of the system. The hierarchical approach of control is proposed to solve such a problem. In fact, it permits to resolve reduced order models at the lower stages of the control hierarchy by decomposing the global system into several subsystems corresponding to each mode. By this way, the control problem of the global system is resolved with no states lost and by using reduced order subsystems. To validate our approach, we apply the hierarchical control to a doubly fed synchronous machine (DFSM) having a sixth order model with 3 modes
This paper is aimed at looking into the generation of a fuzzy rule base in order to control a mob... more This paper is aimed at looking into the generation of a fuzzy rule base in order to control a mobile robot in a navigation space. The procedure is based on a partitioning of the state space into subsets called cell groups. Membership functions are assigned for the state and controls. The ...
Second IEEE Confirence on Control Applications, !September 13 - 16, 1993 Vancouver, BC ... Hierar... more Second IEEE Confirence on Control Applications, !September 13 - 16, 1993 Vancouver, BC ... Hierarchical Control Applied to a Large Scale Time-Delay ... Adel M. ALIMI, Nabil DERBEL, Abderrazak OUALI, and Mohamed BA KAMOUN ... Laboratory of Electrotechnics and ...
Uploads
Papers by N. Derbel