Khier Benmahammed - Academia.edu (original) (raw)
Papers by Khier Benmahammed
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 exciti...
Proceedings of the 33rd Midwest Symposium on Circuits and Systems
The product H(z/sub 1/, z/sub 2/)H (z/sup -1//sub 1/, z/sup -1//sub 2/) arises in many areas of 2... more The product H(z/sub 1/, z/sub 2/)H (z/sup -1//sub 1/, z/sup -1//sub 2/) arises in many areas of 2D signal/image processing, and its computation is time consuming. An algorithm for the evaluation of this product is given. It is straightforward and requires fewer arithmetic operations than the traditional methods.<<ETX>>
2002 IEEE International Symposium on Circuits and Systems. Proceedings (Cat. No.02CH37353)
For pt. 1 see ibid., p. 500-502 (May 2002). This paper presents some of the algorithms used in co... more For pt. 1 see ibid., p. 500-502 (May 2002). This paper presents some of the algorithms used in control theory, but using different frame of work, namely the spectral decomposition (SD) of the state matrix of a linear continuous time invariant (LCTI) system.
Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)
One significant problem with neural control is that of credit assignment, that is, how should err... more One significant problem with neural control is that of credit assignment, that is, how should errors in the plant output be used to modify the controller, since the plant is interposed between the controller output and the “scored” output. While the controller takes as inputs, the plant outputs, then we can propagate forward the error through the controller network, and
1996 IEEE International Symposium on Circuits and Systems. Circuits and Systems Connecting the World. ISCAS 96
... This decreases the learning time and probability of tqpinginalocal mini" -Estimate t... more ... This decreases the learning time and probability of tqpinginalocal mini" -Estimate the NNatructure by the ~~.IZZY partition of the input-outprtsP== ... [6] SGKong and B.Kosk;o,"Adaptive Fuzzy Systems For Backing [Jp a Truck-And-Trailler," IEEE Trans. on neur. net., ...
1998 IEEE International Conference on Fuzzy Systems Proceedings. IEEE World Congress on Computational Intelligence (Cat. No.98CH36228)
A generalized adaptive defuzzifier (GAD) is proposed. GAD consists of two parts: (1) a rule firin... more A generalized adaptive defuzzifier (GAD) is proposed. GAD consists of two parts: (1) a rule firing engine (RFE) which fires only the rules whose firing strengths are equal to or greater than a prespecified threshold, and (2) a rule aggregation engine (RAE) which combines the fired rules with a modified version of the center of gravity (COG) defuzzifier. GAD is
ICECS 2000. 7th IEEE International Conference on Electronics, Circuits and Systems (Cat. No.00EX445)
This paper investigates a direct fuzzy adaptive control of continuous-time nonlinear systems. The... more This paper investigates a direct fuzzy adaptive control of continuous-time nonlinear systems. The proposed adaptive scheme uses a Takagi-Seguno (TS) fuzzy controller, which allows the inclusion of a priori information in terms of qualitative knowledge about the plant operating points or analytical conventional regulators (e.g., state feedback) for those operating points. Stability and robustness of this adaptive scheme are studied
2008 16th Mediterranean Conference on Control and Automation, 2008
... 1The authors are with the University of Reims, Champagne and Ardene, CReSTIC-URCA, Moulin de ... more ... 1The authors are with the University of Reims, Champagne and Ardene, CReSTIC-URCA, Moulin de la House BP 1039, F-51687 Reims Cedex 2, France. e-mail: {fatiha.hamdi, noureddine. manamanni, nadhir.messai}@univ-reims.fr, phone: +33326918386; fax: +33326913106. ...
IET Control Theory & Applications, 2007
Fuzzy modelling is an important topic in fuzzy sets theory and applications. An efficient method ... more Fuzzy modelling is an important topic in fuzzy sets theory and applications. An efficient method for automatically constructing a Takagi-Sugeno (TS) fuzzy model, where only the inputoutput data of the identified system are available, is presented. The TS fuzzy model is automatically generated by the process of structure and parameter identification. In the structure identification step, a clustering method based on the Gustafson-Kessel algorithm is proposed. In the parameter identification step, the Kalman filter algorithm is applied twice to choose the parameter values in the premise and consequent parts from the given membership functions defined point-wise and from input-output data. The effectiveness of this approach is demonstrated using two examples.
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
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.
info:eu-repo/semantics/publishe
The control of underactuated mechanical systems (UMS) has been the subject of active scientific r... more The control of underactuated mechanical systems (UMS) has been the subject of active scientific research, provided by the wide applications of such systems in different disciplines. The main purpose of studying these systems is to control certain variables in parallel, knowing that underactuated systems admit more degrees of freedom than the actuators. The lack of actuator complicates the task of controlling such systems. In this chapter, our objective is to find a control law which guarantees the finite time convergence and the stability of a class of second order underactuated system, for this reason, we have chosen to use the fast terminal synergetic control (FTSC), this latter is considered among robust controls, and has already proven its effectiveness in several applications of nonlinear systems. The UMS is divided into two sub-systems, and each one has its macro variable, which is constructed in hierarchical manner. To prove the efficiency of the proposed strategy of control,...
info:eu-repo/semantics/publishe
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.
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 exciti...
Proceedings of the 33rd Midwest Symposium on Circuits and Systems
The product H(z/sub 1/, z/sub 2/)H (z/sup -1//sub 1/, z/sup -1//sub 2/) arises in many areas of 2... more The product H(z/sub 1/, z/sub 2/)H (z/sup -1//sub 1/, z/sup -1//sub 2/) arises in many areas of 2D signal/image processing, and its computation is time consuming. An algorithm for the evaluation of this product is given. It is straightforward and requires fewer arithmetic operations than the traditional methods.<<ETX>>
2002 IEEE International Symposium on Circuits and Systems. Proceedings (Cat. No.02CH37353)
For pt. 1 see ibid., p. 500-502 (May 2002). This paper presents some of the algorithms used in co... more For pt. 1 see ibid., p. 500-502 (May 2002). This paper presents some of the algorithms used in control theory, but using different frame of work, namely the spectral decomposition (SD) of the state matrix of a linear continuous time invariant (LCTI) system.
Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)
One significant problem with neural control is that of credit assignment, that is, how should err... more One significant problem with neural control is that of credit assignment, that is, how should errors in the plant output be used to modify the controller, since the plant is interposed between the controller output and the “scored” output. While the controller takes as inputs, the plant outputs, then we can propagate forward the error through the controller network, and
1996 IEEE International Symposium on Circuits and Systems. Circuits and Systems Connecting the World. ISCAS 96
... This decreases the learning time and probability of tqpinginalocal mini" -Estimate t... more ... This decreases the learning time and probability of tqpinginalocal mini" -Estimate the NNatructure by the ~~.IZZY partition of the input-outprtsP== ... [6] SGKong and B.Kosk;o,"Adaptive Fuzzy Systems For Backing [Jp a Truck-And-Trailler," IEEE Trans. on neur. net., ...
1998 IEEE International Conference on Fuzzy Systems Proceedings. IEEE World Congress on Computational Intelligence (Cat. No.98CH36228)
A generalized adaptive defuzzifier (GAD) is proposed. GAD consists of two parts: (1) a rule firin... more A generalized adaptive defuzzifier (GAD) is proposed. GAD consists of two parts: (1) a rule firing engine (RFE) which fires only the rules whose firing strengths are equal to or greater than a prespecified threshold, and (2) a rule aggregation engine (RAE) which combines the fired rules with a modified version of the center of gravity (COG) defuzzifier. GAD is
ICECS 2000. 7th IEEE International Conference on Electronics, Circuits and Systems (Cat. No.00EX445)
This paper investigates a direct fuzzy adaptive control of continuous-time nonlinear systems. The... more This paper investigates a direct fuzzy adaptive control of continuous-time nonlinear systems. The proposed adaptive scheme uses a Takagi-Seguno (TS) fuzzy controller, which allows the inclusion of a priori information in terms of qualitative knowledge about the plant operating points or analytical conventional regulators (e.g., state feedback) for those operating points. Stability and robustness of this adaptive scheme are studied
2008 16th Mediterranean Conference on Control and Automation, 2008
... 1The authors are with the University of Reims, Champagne and Ardene, CReSTIC-URCA, Moulin de ... more ... 1The authors are with the University of Reims, Champagne and Ardene, CReSTIC-URCA, Moulin de la House BP 1039, F-51687 Reims Cedex 2, France. e-mail: {fatiha.hamdi, noureddine. manamanni, nadhir.messai}@univ-reims.fr, phone: +33326918386; fax: +33326913106. ...
IET Control Theory & Applications, 2007
Fuzzy modelling is an important topic in fuzzy sets theory and applications. An efficient method ... more Fuzzy modelling is an important topic in fuzzy sets theory and applications. An efficient method for automatically constructing a Takagi-Sugeno (TS) fuzzy model, where only the inputoutput data of the identified system are available, is presented. The TS fuzzy model is automatically generated by the process of structure and parameter identification. In the structure identification step, a clustering method based on the Gustafson-Kessel algorithm is proposed. In the parameter identification step, the Kalman filter algorithm is applied twice to choose the parameter values in the premise and consequent parts from the given membership functions defined point-wise and from input-output data. The effectiveness of this approach is demonstrated using two examples.
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
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.
info:eu-repo/semantics/publishe
The control of underactuated mechanical systems (UMS) has been the subject of active scientific r... more The control of underactuated mechanical systems (UMS) has been the subject of active scientific research, provided by the wide applications of such systems in different disciplines. The main purpose of studying these systems is to control certain variables in parallel, knowing that underactuated systems admit more degrees of freedom than the actuators. The lack of actuator complicates the task of controlling such systems. In this chapter, our objective is to find a control law which guarantees the finite time convergence and the stability of a class of second order underactuated system, for this reason, we have chosen to use the fast terminal synergetic control (FTSC), this latter is considered among robust controls, and has already proven its effectiveness in several applications of nonlinear systems. The UMS is divided into two sub-systems, and each one has its macro variable, which is constructed in hierarchical manner. To prove the efficiency of the proposed strategy of control,...
info:eu-repo/semantics/publishe
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.