Search results for: fuzzy sliding mode control

Authors: H. Mekki, A. Djerioui, S. Zeghlache, L. Chrifi-Alaoui

Abstract:

Induction motor (IM)Induction motor (IM) are nowadays widely used in industrial applications specially in electric vehicles (EVs) and traction locomotives, due to their high efficiency high speed and lifetime. However, since EV motors are easily influenced by un-certainties parameter variations and external load disturbance, both robust control techniques have received considerable attention during the past few decades. This paper present a robust controller design based sliding mode control (SMC) and high gain flux observer (HGO) for induction motor (IM) based Electric Vehicles (EV) drives. This control technique is obtained by the combination between the field oriented and the sliding mode control strategy and present remarkable dynamic performances just as a good robustness with respect to EV drives load torque. A high gain flux observer is also presented and associated in order to design sensorless control by estimating the rotor flux only using measurements of the stator voltages and currents. Simulations results are provided to evaluate the consistency and to show the effectiveness of the proposed SMC strategy also the performance of the HGO for Electric Vehicles system are nowadays widely used in industrial applications specially in electric vehicles (EVs) and traction locomotives, due to their high efficiency high speed and lifetime. However, since EV motors are easily influenced by un-certainties parameter variations and external load disturbance, both robust control techniques have received considerable attention during the past few decades. This paper present a robust controller design based sliding mode control (SMC) and high gain flux observer (HGO) for induction motor (IM) based Electric Vehicles (EV) drives. This control technique is obtained by the combination between the field oriented and the sliding mode control strategy and present remarkable dynamic performances just as a good robustness with respect to EV drives load torque. A high gain flux observer is also presented and associated in order to design sensorless control by estimating the rotor flux only using measurements of the stator voltages and currents. Simulations results are provided to evaluate the consistency and to show the effectiveness of the proposed SMC strategy also the performance of the HGO for Electric Vehicles system.

Keywords: electric vehicles, sliding mode control, induction motor drive, high gain observer

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Authors: Busaba Phurksaphanrat

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This research proposes a pre-emptive fuzzy goal programming model for multi-objective multi-mode resource constrained project scheduling problem. The objectives of the problem are minimization of the total time and the total cost of the project. Objective in a multi-mode resource-constrained project scheduling problem is often a minimization of make-span. However, both time and cost should be considered at the same time with different level of important priorities. Moreover, all elements of cost functions in a project are not included in the conventional cost objective function. Incomplete total project cost causes an error in finding the project scheduling time. In this research, pre-emptive fuzzy goal programming is presented to solve the multi-objective multi-mode resource constrained project scheduling problem. It can find the compromise solution of the problem. Moreover, it is also flexible in adjusting to find a variety of alternative solutions.

Keywords: multi-mode resource constrained project scheduling problem, fuzzy set, goal programming, pre-emptive fuzzy goal programming

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Authors: Xinhuang Wu, Yousef Sardahi

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A hybrid and optimal multi-loop control structure combining linear and nonlinear control algorithms are introduced in this paper to regulate the position of a quadcopter unmanned aerial vehicle (UAV) driven by four brushless DC motors. To this end, a nonlinear mathematical model of the UAV is derived and then linearized around one of its operating points. Using the nonlinear version of the model, a sliding mode control is used to derive the control laws of the motor thrust forces required to drive the UAV to a certain position. The linear model is used to design two controllers, XG-controller and YG-controller, responsible for calculating the required roll and pitch to maneuver the vehicle to the desired X and Y position. Three attitude controllers are designed to calculate the desired angular rates of rotors, assuming that the Euler angles are minimal. After that, a many-objective optimization problem involving 20 design parameters and ten objective functions is formulated and solved by HypE (Hypervolume estimation algorithm), one of the widely used many-objective optimization algorithms approaches. Both stability and performance constraints are imposed on the optimization problem. The optimization results in terms of Pareto sets and fronts are obtained and show that some of the design objectives are competing. That is, when one objective goes down, the other goes up. Also, Numerical simulations conducted on the nonlinear UAV model show that the proposed optimization method is quite effective.

Keywords: optimal control, many-objective optimization, sliding mode control, linear control, cascade controllers, UAV, drones

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Authors: A. Ghodbane, M. Saad, J. F. Boland, C. Thibeault

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Historically, actuators’ redundancy was used to deal with faults occurring suddenly in flight systems. This technique was generally expensive, time consuming and involves increased weight and space in the system. Therefore, nowadays, the on-line fault diagnosis of actuators and accommodation plays a major role in the design of avionic systems. These approaches, known as Fault Tolerant Flight Control systems (FTFCs) are able to adapt to such sudden faults while keeping avionics systems lighter and less expensive. In this paper, a (FTFC) system based on the Geometric Approach and a Reconfigurable Flight Control (RFC) are presented. The Geometric approach is used for cosmic ray fault reconstruction, while Sliding Mode Control (SMC) based on Lyapunov stability theory is designed for the reconfiguration of the controller in order to compensate the fault effect. Matlab®/Simulink® simulations are performed to illustrate the effectiveness and robustness of the proposed flight control system against actuators’ faulty signal caused by cosmic rays. The results demonstrate the successful real-time implementation of the proposed FTFC system on a non-linear 6 DOF aircraft model.

Keywords: actuators’ faults, fault detection and diagnosis, fault tolerant flight control, sliding mode control, geometric approach for fault reconstruction, Lyapunov stability

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Authors: Chih-Jer Lin, Chun-Ying Lee, Ying Liu, Chiang-Ho Cheng

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The main objective of this article is to present the semi-active vibration control using an electro-rheological fluid embedded sandwich structure for a cantilever beam. ER fluid is a smart material, which cause the suspended particles polarize and connect each other to form chain. The stiffness and damping coefficients of the ER fluid can be changed in 10 micro seconds; therefore, ERF is suitable to become the material embedded in the tunable vibration absorber to become a smart absorber. For the ERF smart material embedded structure, the fuzzy control law depends on the experimental expert database and the proposed self-tuning strategy. The electric field is controlled by a CRIO embedded system to implement the real application. This study investigates the different performances using the Type-1 fuzzy and interval Type-2 fuzzy controllers. The Interval type-2 fuzzy control is used to improve the modeling uncertainties for this ERF embedded shock absorber. The self-tuning vibration controllers using Type-1 and Interval Type-2 fuzzy law are implemented to the shock absorber system. Based on the resulting performance, Internal Type-2 fuzzy is better than the traditional Type-1 fuzzy control for this vibration control system.

Keywords: electro-rheological fluid, semi-active vibration control, shock absorber, type 2 fuzzy control

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Authors: Hartani Kada, Merah Abdelkader

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Aiming at the high nonlinearities and unmatched uncertainties of the intelligent electric vehicles’ dynamic system, this paper presents a lateral motion control algorithm for intelligent electric vehicles with four in-wheel motors. A fuzzy logic procedure is presented and formulated to realize lateral control in lane change. The vehicle dynamics model and a desired target tracking model were established in this paper. A fuzzy logic controller was designed for integrated active front steering (AFS) and direct yaw moment control (DYC) in order to improve vehicle handling performance and stability, and a fuzzy controller for the automatic steering problem. The simulation results demonstrate the strong robustness and excellent tracking performance of the control algorithm that is proposed.

Keywords: fuzzy logic, lateral control, AFS, DYC, electric car technology, longitudinal control, lateral motion

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Authors: Susy Thomas, Sajju Thomas, Varghese Vaidyan

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This paper considers SMCs using linear feedback with switched gains and proposes a method which can minimize the pole perturbation. The method is able to enhance the robustness property of the controller. A pre-assigned neighborhood of the ‘nominal’ positions is assigned and the system poles are not allowed to stray out of these bounds even when parameters variations/uncertainties act upon the system. A quasi SMM is maintained within the assigned boundaries of the sliding surface.

Keywords: parameter variations, pole perturbation, sliding mode control, switching surface, robust switching vector

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Authors: R. Mellah, R. Toumi

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This paper presents a new adaptive neuro-fuzzy controller equipped with compensatory fuzzy control (CNFI) in order to not only adjusts membership functions but also to optimize the adaptive reasoning by using a compensatory learning algorithm. The proposed control structure includes both CNFI controllers for which one is used to control in force the master robot and the second one for controlling in position the slave robot. The experimental results obtained, show a fairly high accuracy in terms of position and force tracking under free space motion and hard contact motion, what highlights the effectiveness of the proposed controllers.

Keywords: compensatory fuzzy, neuro-fuzzy, control adaptive, teleoperation

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Authors: Reginaldo Cardoso, Magno Enrique Mendoza Meza

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This work focuses on simulation and comparison of two control skyhook techniques applied to a quarter-car of the active suspension. The objective is to provide comfort to the driver. The main idea of skyhook control is to imagine a damper connected to an imaginary sky; thus, the feedback is performed with the resultant force between the imaginary and the suspension damper. The first control technique is the Mandani fuzzy skyhook and the second control technique is a Takagi-Sugeno fuzzy skyhook controller, in the both controllers the inputs are the relative velocity between the two masses and the vehicle body velocity, the output of the Mandani fuzzy skyhook is the coefficient of imaginary damper viscous-friction and the Takagi-Sugeno fuzzy skyhook is the force. Finally, we compared the techniques. The Mandani fuzzy skyhook showed a more comfortable response to the driver, followed closely by the Takagi- Sugeno fuzzy skyhook.

Keywords: active suspention, Mandani, quarter-car, skyhook, Sugeno

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Authors: Murat Yazici

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Anomalies are irregularities found in data that do not adhere to a well-defined standard of normal behavior. The identification of outliers or anomalies in data has been a subject of study within the statistics field since the 1800s. Over time, a variety of anomaly detection techniques have been developed in several research communities. The cluster analysis can be used to detect anomalies. It is the process of associating data with clusters that are as similar as possible while dissimilar clusters are associated with each other. Many of the traditional cluster algorithms have limitations in dealing with data sets containing categorical properties. To detect anomalies in categorical data, fuzzy clustering approach can be used with its advantages. The fuzzy k-Mode (FKM) clustering algorithm, which is one of the fuzzy clustering approaches, by extension to the k-means algorithm, is reported for clustering datasets with categorical values. It is a form of clustering: each point can be associated with more than one cluster. In this paper, anomaly detection is performed on two simulated data by using the FKM cluster algorithm. As a significance of the study, the FKM cluster algorithm allows to determine anomalies with their abnormality degree in contrast to numerous anomaly detection algorithms. According to the results, the FKM cluster algorithm illustrated good performance in the anomaly detection of data, including both one anomaly and more than one anomaly.

Keywords: fuzzy k-mode clustering, anomaly detection, noise, categorical data

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Authors: S. Yaman, S. Rostami

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In this study, a black box modeling of the coupled-tank system is obtained by using fuzzy sets. The derived model is tested via adaptive neuro fuzzy inference system (ANFIS). In order to achieve a better control performance, the parameters of three different controller types, classical proportional integral controller (PID), fuzzy PID and function tuner method, are tuned by one of the evolutionary computation method, genetic algorithm. All tuned controllers are applied to the fuzzy model of the coupled-tank experimental setup and analyzed under the different reference input values. According to the results, it is seen that function tuner method demonstrates better robust control performance and guarantees the closed loop stability.

Keywords: function tuner method (FTM), fuzzy modeling, fuzzy PID controller, genetic algorithm (GA)

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Authors: S. Gherbi, F. Bouchareb

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This paper deals with the novel intelligent bio-inspired control strategies, it presents a novel approach based on an optimal fuzzy immune PID parameters tuning, it is a combination of a PID controller, inspired by the human immune mechanism with fuzzy logic. Such controller offers more possibilities to deal with the delayed systems control difficulties due to the delay term. Indeed, we use an optimization approach to tune the four parameters of the controller in addition to the fuzzy function; the obtained controller is implemented in a modified Smith predictor structure, which is well known that it is the most efficient to the control of delayed systems. The application of the presented approach to control a three tank delay system shows good performances and proves the efficiency of the method.

Keywords: delayed systems, fuzzy immune PID, optimization, Smith predictor

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Authors: Walied Hanora

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This paper presents the problem of robust state feedback H∞ for discrete time nonlinear system represented by Takagi-Sugeno fuzzy systems. Based on fuzzy lyapunov function, the condition ,which is represented in the form of Liner Matrix Inequalities (LMI), guarantees the H∞ performance of the T-S fuzzy system with uncertainties. By comparison with recent literature, this approach will be more relaxed condition. Finally, an example is given to illustrate the proposed result.

Keywords: fuzzy lyapunov function, H∞ control , linear matrix inequalities, state feedback, T-S fuzzy systems

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Authors: N. Kaewpraek, W. Assawinchaichote

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This paper considers an H_∞ TS fuzzy state-derivative feedback controller for a class of nonlinear dynamical systems. A Takagi-Sugeno (TS) fuzzy model is used to approximate a class of nonlinear dynamical systems. Then, based on a linear matrix inequality (LMI) approach, we design an H_∞ TS fuzzy state-derivative feedback control law which guarantees L₂-gain of the mapping from the exogenous input noise to the regulated output to be less or equal to a prescribed value. We derive a sufficient condition such that the system with the fuzzy controller is asymptotically stable and H_∞ performance is satisfied. Finally, we provide and simulate a numerical example is provided to illustrate the stability and the effectiveness of the proposed controller.

Keywords: h-infinity fuzzy control, an LMI approach, Takagi-Sugano (TS) fuzzy system, the photovoltaic systems

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Authors: Anubhav Shrivastava, Lakshya Bhat, Shivarudraswamy

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Distributed Generation is the need of the hour. With current advancements in the DG technology, there are some major issues that need to be tackled in order to make this method of generation of energy more efficient and feasible. Among other problems, the control in voltage is the major issue that needs to be addressed. This paper focuses on control of voltage using reactive power control of DGs with the help of fuzzy logic. The membership functions have been defined accordingly and the control of the system is achieved. Finally, with the help of simulation results in Matlab, the control of voltage within the tolerance limit set (+/- 5%) is achieved. The voltage waveform graphs for the IEEE 14 bus system are obtained by using simple algorithm with MATLAB and then with fuzzy logic for 14 bus system. The goal of this project was to control the voltage within limits by controlling the reactive power of the DG using fuzzy logic.

Keywords: distributed generation, fuzzy logic, matlab, newton raphson, IEEE 14 bus, voltage regulation, radial network

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Authors: Muhammad M. A. S. Mahmoud

Abstract:

Natural gas sweetening process is a controlled process that must be done at maximum efficiency and with the highest quality. In this work, due to complexity and non-linearity of the process, the H₂S gas separation and the intelligent fuzzy controller, which is used to enhance the process, are simulated in MATLAB – Simulink. The new design of fuzzy control for Gas Separator is discussed in this paper. The design is based on the utilization of linear state-estimation to generate the internal knowledge-base that stores input-output pairs. The obtained input/output pairs are then used to design a feedback fuzzy controller. The proposed closed-loop fuzzy control system maintains the system asymptotically-stability while it enhances the system time response to achieve better control of the concentration of the output gas from the tower. Simulation studies are carried out to illustrate the Gas Separator system performance.

Keywords: gas separator, gas sweetening, intelligent controller, fuzzy control

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Authors: B. G. Sampath, K. C. R. Perera, W. A. S. I. Wijesuriya, V. P. C. Dassanayake

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In this paper the design, development and testing of a stabilizer control system for a Quad-rotor is presented which is focused on the maneuverability. The mechanical design is performed along with the design of the controlling algorithm which is devised using fuzzy logic controller. The inputs for the system are the angular positions and angular rates of the Quad-Rotor relative to three axes. Then the output data is filtered from an accelerometer and a gyroscope through a Kalman filter. In the development of the stability controlling system Mandani Fuzzy Model is incorporated. The results prove that the fuzzy based stabilizer control system is superior in high dynamic disturbances compared to the traditional systems which use PID integrated stabilizer control systems.

Keywords: fuzzy stabilizer, maneuverability, PID, quad-rotor

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Authors: A. Mansouri, F. Krim

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This paper discusses the implementation and design of both linear PI and fuzzy controllers for DC-DC boost converters. Design of PI controllers is based on temporal response of closed-loop converters, while fuzzy controllers design is based on heuristic knowledge of boost converters. Linear controller implementation is quite straightforward relying on mathematical models, while fuzzy controller implementation employs one or more artificial intelligences techniques. Comparison between these boost controllers is made in design aspect. Experimental results show that the proposed fuzzy controller system is robust against input voltage and load resistance changing and in respect of start-up transient. Results indicate that fuzzy controller can achieve best control performance concerning faster transient response, steady-state response good stability and accuracy under different operating conditions. Fuzzy controller is more suitable to control boost converters.

Keywords: boost DC-DC converter, fuzzy, PI controllers, power electronics and control system

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Authors: Khaled Mammar

Abstract:

This paper presents an application of adaptive neuro-fuzzy controller for PEM fuel cell system. The model proposed for control include a fuel cell stack model, reformer model and DC/AC inverter model. Furthermore, a Fuzzy Logic (FLC) and adaptive neuro-fuzzy controllers are used to control the active power of PEM fuel cell system. The controllers modify the hydrogen flow feedback from the terminal load. The validity of the controller is verified when the fuel cell system model is used in conjunction with the ANFIS controller to predict the response of the active power. Simulation results confirmed the high-performance capability of the neuo-fuzzy to control power generation.

Keywords: fuel cell, PEMFC, modeling, simulation, Fuzzy Logic Controller, FLC, adaptive neuro-fuzzy controller, ANFIS

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Authors: Fayssal Amrane, Azeddine Chaiba

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In this paper, type-2 fuzzy logic control (T2FLC) and neuro-fuzzy control (NFC) for a doubly fed induction generator (DFIG) based on direct power control (DPC) with a fixed switching frequency is proposed for wind generation application. First, a mathematical model of the doubly-fed induction generator implemented in d-q reference frame is achieved. Then, a DPC algorithm approach for controlling active and reactive power of DFIG via fixed switching frequency is incorporated using PID. The performance of T2FLC and NFC, which is based on the DPC algorithm, are investigated and compared to those obtained from the PID controller. Finally, simulation results demonstrate that the NFC is more robust, superior dynamic performance for wind power generation system applications.

Keywords: doubly fed induction generator (DFIG), direct power control (DPC), neuro-fuzzy control (NFC), maximum power point tracking (MPPT), space vector modulation (SVM), type 2 fuzzy logic control (T2FLC)

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Authors: Ali Koam, Ismail Ibedou, S. E. Abbas

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In this paper, it is introduced the notion of r-fuzzy ideal separation axioms Tᵢi = 0; 1; 2 based on a fuzzy ideal I on a fuzzy topological space (X; τ). An r-fuzzy ideal connectedness related to the fuzzy ideal I is introduced which has relations with a previous r-fuzzy fuzzy connectedness. An r-fuzzy ideal compactness related to Ι is introduced which has also relations with many other types of fuzzy compactness.

Keywords: fuzzy ideal, fuzzy separation axioms, fuzzy compactness, fuzzy connectedness

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Authors: Zaouche Mohammed, Amini Mohammed, Foughali Khaled, Hamissi Aicha, Aktouf Mohand Arezki, Boureghda Ilyes

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In this paper, we present a piloting law based on the adaptive differentiators via high order sliding mode controller, by using an aircraft in virtual simulated environment. To deal with the design of an autopilot controller, we propose a framework based on Software in the Loop (SIL) methodology and we use Microsoft^TM Flight Simulator (FS-2004) as the environment for plane simulation. The aircraft dynamic model is nonlinear, Multi-Input Multi-Output (MIMO) and tightly coupled. The nonlinearity resides in the dynamic equations and also in the aerodynamic coefficients' variability. In our case, two (02) aircrafts are used in the flight tests, the Zlin-142 and MQ-1 Predator. For both aircrafts and in a very low altitude flight, we send the piloting control inputs to the aircraft which has stalled due to a command disconnection. Then, we present the aircraft’s dynamic behavior analysis while reestablishing the command transmission. Finally, a comparative study between the two aircraft’s dynamic behaviors is presented.

Keywords: adaptive differentiators, second order sliding modes, dynamic adaptation of the gains, microsoft flight simulator, Zlin-142, MQ-1 predator

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Authors: Bandreddy Anand Babu, Mandadi Srinivasa Rao, Chintala Pradeep Reddy

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The main theme of this paper is to design fuzzy logic Proportional Integral Derivative controller for controlling of Pulse Width Modulator (PWM) based DCDC buck converter in continuous conduction mode of operation and comparing the results of FPID and ANFIS. Simulation is done to fuzzy the given input variables and membership functions of input values, creating the interference rules linking the input and output variables and after then defuzzfies the output variables. Fuzzy logic is simple for nonlinear models like buck converter. Fuzzy logic based PID controller technique is to control, nonlinear plants like buck converters in switching variables of power electronics. The characteristics of FPID are in terms of rise time, settling time, rise time, steady state errors for different inputs and load disturbances.

Keywords: fuzzy logic, PID controller, DC-DC buck converter, pulse width modulation

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Authors: Bendaoudi Seif-Eddine, Bounazef Mokhtar

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Wear behaviour of Ti3SiC2 coating in contact sliding under dry condition have been investigated on different pressures (0.1-0.8 MPa) at various speeds from 5 to 60 m/s. The ball-on-disc sliding-wear test was performed in ambient air with a relative humidity of 20%. An equation has been proposed to predict wear rates and describe sliding wear caused by Corundum ball on the studied material. The results show how the wear rate, measured by mass loss, varies in the range of (0.6 – 3.8 x E-6 mm3/Nm) with normal sliding distance under various test conditions; it increases with increasing load and rapidly with speed. The influence of TiC impurities on the wear behaviours was also investigated.

Keywords: ball-on-disc, dry-sliding, Ti3SiC2, wear

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Authors: Abdelkader Merah, Kada Hartani

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A reference model based control approach for improving behavior following car is proposed in this paper. The reference model is nonlinear and provides dynamic solutions consistent with safety constraints and comfort specifications. a robust fuzzy logic based control strategy is further proposed in this paper. A set of simulation results showing the suitability of the proposed technique for various demanding cenarios is also included in this paper.

Keywords: reference model, longitudinal control, fuzzy logic, design of car

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Authors: Z. Bouchama, N. Essounbouli, A. Hamzaoui, M. N. Harmas

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A new robust finite time synergetic controller is presented based on recently developed synergetic control methodology and a terminal attractor technique. A Fast Terminal Synergetic Control (FTSC) is proposed for controlling DC-DC buck converter. Unlike Synergetic Control (SC) and sliding mode control, the proposed control scheme has the characteristics of finite time convergence and chattering free phenomena. Simulation of stabilization and reference tracking for buck converter systems illustrates the approach effectiveness while stability is assured in the Lyapunov sense and converse Lyapunov results involving scalar differential inequalities are given for finite-time stability.

Keywords: dc-dc buck converter, synergetic control, finite time convergence, terminal synergetic control, fast terminal synergetic control, Lyapunov

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Authors: Emre Akyürek, Anthony Huynh, Tatiana Kalganova

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The Ambidextrous Robot Hand is a robotic device with the purpose to mimic either the gestures of a right or a left hand. The symmetrical behavior of its fingers allows them to bend in one way or another keeping a compliant and anthropomorphic shape. However, in addition to gestures they can reproduce on both sides, an asymmetrical mechanical design with a three tendons routing has been engineered to reduce the number of actuators. As a consequence, control algorithms must be adapted to drive efficiently the ambidextrous fingers from one position to another and to include grasping features. These movements are controlled by pneumatic muscles, which are nonlinear actuators. As their elasticity constantly varies when they are under actuation, the length of pneumatic muscles and the force they provide may differ for a same value of pressurized air. The control algorithms introduced in this paper take both the fingers asymmetrical design and the pneumatic muscles nonlinearity into account to permit an accurate control of the Ambidextrous Robot Hand. The finger motion is achieved by combining a classic PID controller with a phase plane switching control that turns the gain constants into dynamic values. The grasping ability is made possible because of a sliding mode control that makes the fingers adapt to the shape of an object before strengthening their positions.

Keywords: ambidextrous hand, intelligent algorithms, nonlinear actuators, pneumatic muscles, robotics, sliding control

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Authors: Seungwoo Kim, Yeongcheol Cho

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In this paper, a holonomic mobile robot is designed in omnidirectional wheels and an adaptive fuzzy controller is presented for its precise trajectories. A kind of adaptive controller based on fuzzy multi-layered algorithm is used to solve the big parametric uncertainty of motor-controlled dynamic system of 3-wheels omnidirectional mobile robot. The system parameters such as a tracking force are so time-varying due to the kinematic structure of omnidirectional wheels. The fuzzy adaptive control method is able to solve the problems of classical adaptive controller and conventional fuzzy adaptive controllers. The basic idea of new adaptive control scheme is that an adaptive controller can be constructed with parallel combination of robust controllers. This new adaptive controller uses a fuzzy multi-layered architecture which has several independent fuzzy controllers in parallel, each with different robust stability area. Out of several independent fuzzy controllers, the most suited one is selected by a system identifier which observes variations in the controlled system parameter. This paper proposes a design procedure which can be carried out mathematically and systematically from the model of a controlled system. Finally, the good performance of a holonomic mobile robot is confirmed through live tests of the tracking control task.

Keywords: fuzzy adaptive control, fuzzy multi-layered controller, holonomic mobile robot, omnidirectional wheels, robustness and stability.

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Authors: Abderrahmen Bouguerra, Kamel Kara, Djamel Saigaa, Samir Zeghlache, Keltoum Loukal

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In this paper, a Fault-Tolerant control of 2 DOF Helicopter (TRMS System) Based on Fuzzy Gain-Adaptive PID is presented. In particular, the introduction part of the paper presents a Fault-Tolerant Control (FTC), the first part of this paper presents a description of the mathematical model of TRMS, an adaptive PID controller is proposed for fault-tolerant control of a TRMS helicopter system in the presence of actuator faults, A fuzzy inference scheme is used to tune in real-time the controller gains, The proposed adaptive PID controller is compared with the conventional PID. The obtained results show the effectiveness of the proposed method.

Keywords: fuzzy control, gain-adaptive PID, helicopter model, PID control, TRMS system

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Authors: Ibrahim M. Mehedi, Uzair Ansari, Ubaid M. Al-Saggaf, Abdulrahman H. Bajodah

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This paper presents a methodology for balancing a rotary inverted pendulum system using Robust Generalized Dynamic Inversion (RGDI) under influence of parametric variations and external disturbances. In GDI control, dynamic constraints are formulated in the form of asymptotically stable differential equation which encapsulates the control objectives. The constraint differential equations are based on the deviation function of the angular position and its rates from their reference values. The constraint dynamics are inverted using Moore-Penrose Generalized Inverse (MPGI) to realize the control expression. The GDI singularity problem is addressed by augmenting a dynamic scale factor in the interpretation of MPGI which guarantee asymptotically stable position tracking. An additional term based on Sliding Mode Control is appended within GDI control to make it robust against parametric variations, disturbances and tracking performance deterioration due to generalized inversion scaling. The stability of the closed loop system is ensured by using positive definite Lyapunov energy function that guarantees semi-global practically stable position tracking. Numerical simulations are conducted on the dynamic model of rotary inverted pendulum system to analyze the efficiency of proposed RGDI control law. The comparative study is also presented, in which the performance of RGDI control is compared with Linear Quadratic Regulator (LQR) and is verified through experiments. Numerical simulations and real-time experiments demonstrate better tracking performance abilities and robustness features of RGDI control in the presence of parametric uncertainties and disturbances.

Keywords: generalized dynamic inversion, lyapunov stability, rotary inverted pendulum system, sliding mode control

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