Papers by Khier Benmahammed
The Journal of Engineering and Exact Sciences
This paper focuses on the modelling and control of an electromagnetic suspension using the bond g... more This paper focuses on the modelling and control of an electromagnetic suspension using the bond graph tool. This technique combines graphical and relational aspects to establish connections between bond graph elements, particularly in deducing junction relationships and employing bicausal inversion for trajectory tracking controller design. To determine the controller parameters, we utilized a meta-heuristic method called Firefly for optimization, thus avoiding the need for trial and error. The simulation was conducted using 20-Sim software and a Matlab/Simulink script, which yielded improved results. This paper presents an initial contribution that demonstrates the integration of meta-heuristic optimization and the bond graph tool for parameter selection in 20-sim simulation software.
2017 6th International Conference on Systems and Control (ICSC)
This paper addresses the problem of robust trajectory tracking controller design for an overhead ... more This paper addresses the problem of robust trajectory tracking controller design for an overhead crane system. Overhead cranes are complex under-actuated mechanical systems with highly nonlinear-coupled dynamics. After describing the dynamical model of five degrees of freedom overhead crane, a control algorithm based on the so-called Partial Feedback Linearization and Sliding Mode Control technique is developed to provide the robust trajectory tracking and the stability of the studied system. Several simulation results are presented to illustrate the performances of the proposed approach.
HAL (Le Centre pour la Communication Scientifique Directe), 2006
HAL (Le Centre pour la Communication Scientifique Directe), 2005
Journal of Applied Sciences, 2008
IEEE Transactions on Circuits and Systems, 1989
A synthesis procedure is developed which yields an optimal 2-D compensator realization that minim... more A synthesis procedure is developed which yields an optimal 2-D compensator realization that minimizes the output noise power, subject to a scaling condition on the state variables to avoid overflow. The output noise power and the scaling condition are related to two positive definite matrices. Using these matrices, the second-order modes of the compensator are obtained and used to minimize the output noise power. >
info:eu-repo/semantics/publishe
This paper presents new structural and training strategies for neural control systems. First, we ... more This paper presents new structural and training strategies for neural control systems. First, we show that the existing neural control structures can be brought to a single learning structure. Then, a new FeedForward Error Propagation (FEP) learning algorithm is tailored especially for training controllers in a direct manner without the use of identifier or any form of the plant model. This avoids the uncertainty and the computational and storage requirements related to the forward model. Finally, The main features of proposed schemes are evaluated using simulation examples. Key-words: -Adaptive and optimal control, neural networks, training algorithms, FEP algorithm. 1 Unified Direct Learning Control Structure The key problem in control systems is to design a controller which generates the desired control input so that the behavior of the plant meets a collection of specifications constituting the control objective. Usually, these specifications are expressed in terms of speed, acc...
info:eu-repo/semantics/publishe
African Review of Physics, 2009
The application of fuzzy logic structures in comput er aided design (CAD) of digital electronics ... more The application of fuzzy logic structures in comput er aided design (CAD) of digital electronics substan tially improves quality of design solutions by providing designers with flexibility in formulating goals and selecting tradeoffs. In addition, the following aspects of a design process are posit ively impacted by application of fuzzy logic: utili zation of the domain knowledge, interpretation of uncertainties in the d esign data, and an adaptation of design algorithms. We successfully applied fuzzy logic structures in VLSI cells placem ent algorithm for the physical stage of the design process. We modified the matrix connection by using fuzzy relation. In t he attempt to apply the fuzzy set theory to the pro blem of physical design, the connectivity matrix was modified and then the f uzzy set theory was used to construct clusters for placement.
International Journal of Robust and Nonlinear Control, 2021
This article develops an adaptive finite‐time stable control algorithm for an accurate manipulati... more This article develops an adaptive finite‐time stable control algorithm for an accurate manipulation of robot arms considering unknown model parameters and external disturbances. First, a state‐dependent twisting control algorithm is developed for the robust manipulation of robot arms under the consideration of bounded unknown uncertainties conditions. The more challenging problem of robust control design under consideration of totally unknown dynamical parameters is investigated in a second stage by supporting the control law with a suitable online parameters estimator. The objective of the parameters estimator is to drive the vector of estimated parameters to some level that ensures the establishment of real second‐order sliding mode without overloading the discontinuous controller gains. This approach based on combining both techniques of robust and adaptive algorithms allows overcoming large levels of uncertainties while preserving a high level of tracking accuracy without exciting the unwanted phenomena of chattering. The system finite‐time stability is proven by using Lyapunov theory and the weighted homogeneity principle. Practical tests are reported to support theoretical study results.
This paper presents an Enhanced version of the Embedded Zerotree Wavelet (EEZW) dedicated to Phon... more This paper presents an Enhanced version of the Embedded Zerotree Wavelet (EEZW) dedicated to Phonocardiogram (PCG) compression. This algorithm is constituted of six steps: applying Discrete Wavelet Transform, uniform scalar quantizing, creating dominant and subordinate lists, generating preliminary symbol stream and finally using arithmetic coding. The compression algorithm has been tested and evaluated by its application on several databases. The adapted 1-D algorithm shows better performance than the original EZW, the modified Ouafi's EZW (MEZW) and the popular MP3 audio-specific format, regarding to the well-known trade-off rate/distortion. Also a low computational complexity of our method is obtained. It is due to the only one time subordinate pass calculated one time after the achievement of all dominant passes.
Oxford Scholarship Online
This chapter introduces a provincial-level adaptation of my theory of the protest state. In addit... more This chapter introduces a provincial-level adaptation of my theory of the protest state. In addition to its high levels of protest activity, Argentina is a federal system where incidences of protest participation have occurred at uneven rates, making it an excellent case for exploring variation in rates of contention across provincial contexts. Focusing on the provinces of Buenos Aires, Mendoza, and San Luis—where I draw on dozens of interviews with citizen activists, movement organizers, and politicians conducted in 2013 with support from the National Science Foundation—I utilize the comparative method to examine how distinct institutional characteristics of each province have interacted with citizen engagement to produce different outcomes in terms of protest.
2021 18th International Multi-Conference on Systems, Signals & Devices (SSD)
In this paper, an Interval Type 2 Fuzzy Adaptive Backstepping Sliding Mode Controller (IT2FABSMC)... more In this paper, an Interval Type 2 Fuzzy Adaptive Backstepping Sliding Mode Controller (IT2FABSMC) is proposed for nonlinear unknown systems. The proposed approach is a combination of the interval type 2 fuzzy logic control (IT2FLC), the sliding mode control (SMC) and the Backstepping control (BC), which inherits the benefits of these three methods. The objective of the proposed controller is to allow the system to move to the sliding surface and remain on it, to ensure the asymptotic stability of the closed loop system. IT2FA systems are used to approximate the unknown dynamics of the system and the switching control. The inverted pendulum with uncertainty and disturbance is adopted to illustrate the validity of the proposed method. Simulation results show that the IT2FABSMC achieves the tracking performances in comparison with the T1FABSMC.
In fuzzy control area, the evolutionary algorithm is one of the most common design tools for fuzz... more In fuzzy control area, the evolutionary algorithm is one of the most common design tools for fuzzy knowledge base generation. In this paper, we present the application of an integer evolutionary algorithm (IEA) for simultaneous optimization of fuzzy rule base and fuzzy data base of Mamdani-type fuzzy controller. The motivation behind this work is to design a robust and accurate controller without chattering phenomenon in the control input. More specifically, we consider the minimization of the variance of the control input in the same time as root mean square tracking error during the optimization. This fact leads the IEA to search for accurate fuzzy controller that provides just enough control input for smooth behavior. To assess the design technique, simulations were conducted with direct-drive DC motor. The simulation results show the effectiveness of the proposed IEA in designing a robust and chattering-free Mamdani fuzzy controller with high accuracy as compared to a convention...
Journal of Intelligent & Fuzzy Systems, 2014
This paper presents an evolution search methodology to automatically design a sectorial fuzzy con... more This paper presents an evolution search methodology to automatically design a sectorial fuzzy controller (SFC). The evolution search methodology is an integer-coded evolutionary algorithm (EA) which involves two stages. At first stage, the proposed EA optimises the SFC for disturbance-free model of the plant to be controlled. The principal aim of the second stage is the robustness enhancement of the evolved SFC resulting from the former stage. Specifically, the proposed EA looks in the vicinity of the best SFC found in the first stage for a SFC that provide the best compromise between the control performance for a disturbance-free model and for disturbed model. The sectorial properties were accommodated in the evolutionary search through a special parameterization of the fuzzy rule base (FRB) and the membership functions (MFs) of the SFC, repairing operator and special initialization of FRB chromosome part. Simulations were performed for direct-drive DC motor. The evolved SFC with the proposed design methodology found to provide very satisfactory performance under different types of disturbances. The trade-off between the accuracy performance and the robustness performance is also analysed during the evolution process.
ISA transactions, 2018
In this paper, we describe a new form of neuro-fuzzy-genetic controller design for nonlinear syst... more In this paper, we describe a new form of neuro-fuzzy-genetic controller design for nonlinear system derived from a manipulator robot. The proposed method combines fuzzy logic and neuronal networks which are of growing interest in robotics, the neuro-fuzzy controller does not require the knowledge of the robot parameters values. Furtheremore, the genetic algorithms (GAs) for complex motion planning of robots require an evaluation function which takes into account multiple factors. An optimizing algorithm based on the genetic algorithms is applied in order to provide the most adequate shape of the fuzzy subsets that are considered as an interpolation functions. The proposed approach provides a well learning of the manipulator robot dynamics whatever the assigned task. Simulation and practical results illustrate the effectiveness of the proposed strategy. The advantages of the proposed method and the possibilities of further improvements are discussed.
Olivier for their help during the course of the research. Special thanks should also go to Pam Du... more Olivier for their help during the course of the research. Special thanks should also go to Pam Dull for typing this dissertation. Finally, the author wishes to thank his parents for their support during his so many years of education.
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Papers by Khier Benmahammed