System Identification I

The notion of fuzziness as defined in this paper relates to situations in which the source of imprecision is not a random variable or a stochastic process, but rather a class or classes which do not possess sharply defined boundaries, e.g., the “class of bald men,” or the “class of numbers which are much greater than 10,” or the “class of adaptive systems,” etc. A basic concept which makes it possible to treat fuzziness in a quantitative manner is that of a fuzzy set, that is, a class in which there may be grades of membership intermediate between full membership and non-membership. Thus, a fuzzy set is characterized by a membership function which assigns to each object its grade of membership (a number lying between 0 and 1) in the fuzzy set. After a review of some of the relevant properties of fuzzy sets, the notions of a fuzzy system and a fuzzy class of systems are introduced and briefly analyzed. The paper closes with a section dealing with optimization under fuzzy constraints in which an approach to...

Fuzzy sets and systems

Barrier Lyapunov functions for Nussbaum gain adaptive control of full state constrained nonlinear systems

The standard extended state observer based control (ESOBC) method is only applicable for a class of single-input-single-output essential-integral-chain systems with matched uncertainties. It is noticed that systems with nonintegral-chain form and mismatched uncertainties are more general and widely exist in practical engineering systems, where the standard ESOBC method is no longer available. To this end, it is imperative to explore new ESOBC approach for these systems to extend its applicability. By appropriately choosing a disturbance compensation gain, a generalized ESOBC (GESOBC) method is proposed for nonintegral-chain systems subject to mismatched uncertainties without any coordinate transformations. The proposed method is able to extend to multi-input-multi-output systems with almost no modification. Both numerical and application design examples demonstrate the feasibility and efficacy of the proposed method.

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Generalized Extended State Observer Based Control for Systems With Mismatched Uncertainties

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Modelling and Control of Robot Manipulators

Super-twisting sliding mode control and robust loop shaping design of RO desalination process powered by PV generator

We deal with the stability analysis of a mobile robot subject to network induced delay. First, we propose a discrete-time stabilizing controller in the delay-free case. Thereafter, the problem of induced random delay caused by the communication network is highlighted. Finally a predictor mechanism is developed to build a control law that stabilizes the mobile robot control system.

On the stability of an autonomous mobile robot subject to network induced delay

The photovoltaic pumping systems ensure the first water supply for the population and the agriculture fields situated in non-electrified areas Despite the importance of these systems, they are often exposed to problems of maintenance and control To solve the maintenance problem, several solutions exist The traditional methods do not provide effective solution So, a new technology concept called "Augmented Reality" is adopted Complex Maintenance tasks in industrial environments, particularly solar systems, are excellent domains for Augmented Reality (AR) applications The need for good training and the access to large amounts of documentation are conditions making the use of AR techniques most promising The basic idea of Augmented Reality is to bring additional information as seamlessly as possible into the view of a user In this paper an AR system for training and assisting in maintaining equipment in industrial context is presented The key hardware features of the system are a Tablet Pc display, which superimposes the augmentations in the view of the user Finally a scenario-based concept, which takes users step by step through training or maintenance tasks, is described

Augmented Reality Platform for Solar Systems Maintenance Assistance

This paper proposes a new fuzzy logic-based navigation method for a mobile robot moving in an unknown environment. This method endows the robot the capabilities of obstacles avoidance and goal seeking without being stuck in local minima. A simple Fuzzy controller is constructed based on the human sense and a fuzzy reinforcement learning algorithm is used to fine tune the fuzzy rule base parameters. The advantages of the proposed method are its simplicity, its easy implementation for industrial applications, and the robot joins its objective despite the environment complexity. Some simulation results of the proposed method and a comparison with previous works are provided.

/pdf/a-simple-goal-seeking-navigation-method-for-a-mobile-robot-1ft50zkv8e.pdf

A Simple Goal Seeking Navigation Method for a Mobile Robot Using Human Sense, Fuzzy Logic and Reinforcement Learning

In this paper, an adaptive feedback controller with observer is developed for a class of chaotic systems. This controller does not need the availability of state variables. It can be used for tracking a smooth orbit that can be a limit cycle or a chaotic orbit of another system. This adaptive feedback controller is constructed with H∞ control technique. Based on Lyapunov stability theorem, the proposed adaptive feedback control system can guarantee the stability of whole closed-loop system and achieve the H∞ tracking performance as well. To demonstrate the efficiency of the proposed scheme, two well-known chaotic systems namely Duffing-Holmes system and Lur'e-like system are considered as illustrative examples.

Mohamed Tadjine

Papers

Super-twisting sliding mode control and robust loop shaping design of RO desalination process powered by PV generator

On the stability of an autonomous mobile robot subject to network induced delay

Augmented Reality Platform for Solar Systems Maintenance Assistance

A Simple Goal Seeking Navigation Method for a Mobile Robot Using Human Sense, Fuzzy Logic and Reinforcement Learning

An adaptive feedback controller with observer for linearizable chaotic systems