ali mallem - Academia.edu (original) (raw)
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Papers by ali mallem
Journal of Intelligent & Fuzzy Systems, 2018
In this paper a dynamic tracking control of mobile robot using neural network global fast sliding... more In this paper a dynamic tracking control of mobile robot using neural network global fast sliding mode (NN-GFSM) is presented. The proposed strategy combines two control approaches, kinematic control and dynamic control. The laws of kinematic control are based on GFSM in order to determine the adequate velocities for the system stability in finite time. The dynamic controller combines two control techniques, the GFSM to stabilize the velocities errors, and a neural network controller in order to approximate a nonlinear function and to deal the disturbances. This dynamic controller allows the robots to follow the desired trajectory even in the presence of disturbances. The designed controller is dynamically simulated by using Matlab/ Simulink and the simulations results show the efficiency and robustness of the proposed control strategy.
Journal of Automation, Mobile Robotics and Intelligent Systems, 2018
This paper presents a new approach in the field of trajectory tracking for nonholonomic mobile ro... more This paper presents a new approach in the field of trajectory tracking for nonholonomic mobile robot in presence of disturbances. The proposed control design is constructed by a kinematic controller, based on PD sliding surface using fuzzy sliding mode for the angular and linear velocities disturbances, in order to tend asymptotically the robot posture error to zero. Thereafter a dynamic controller is presented using as a sliding surface design, a fast terminal function (FTF) whose parameters are generated by a genetic algorithm in order to converge the velocity errors to zero in finite time and guarantee the asymptotic stability of the system using a Lyapunov candidate. The elaborated simulation works in the case of different trajectories confirm the robustness of the proposed approach.
In this paper a fast terminal sliding mode control for wheeled mobile robots using a fuzzy logic ... more In this paper a fast terminal sliding mode control for wheeled mobile robots using a fuzzy logic controller is presented. The proposed strategy combines terminal sliding mode and fuzzy logic approaches. The dynamic tracking errors of the mobile robot are divided in two subsystems, a first order subsystem for the angle error and a second order subsystem for the position error. For the first subsystem, a fast terminal sliding mode control law of the angular velocity is designed in order to stabilize the angle error and assure the finite time. For the second subsystem, a combination of global fast terminal sliding mode control and a fuzzy logic controller is designed in order to stabilize the position error and to optimize the reaching time of the control law. The introduced fuzzy logic controller is used to find a compromise between the reaching time of the sliding surface and the convergence time of the position errors. The designed controller is dynamically simulated by using matlab...
Journal of Intelligent & Fuzzy Systems, 2018
In this paper a dynamic tracking control of mobile robot using neural network global fast sliding... more In this paper a dynamic tracking control of mobile robot using neural network global fast sliding mode (NN-GFSM) is presented. The proposed strategy combines two control approaches, kinematic control and dynamic control. The laws of kinematic control are based on GFSM in order to determine the adequate velocities for the system stability in finite time. The dynamic controller combines two control techniques, the GFSM to stabilize the velocities errors, and a neural network controller in order to approximate a nonlinear function and to deal the disturbances. This dynamic controller allows the robots to follow the desired trajectory even in the presence of disturbances. The designed controller is dynamically simulated by using Matlab/ Simulink and the simulations results show the efficiency and robustness of the proposed control strategy.
Journal of Automation, Mobile Robotics and Intelligent Systems, 2018
This paper presents a new approach in the field of trajectory tracking for nonholonomic mobile ro... more This paper presents a new approach in the field of trajectory tracking for nonholonomic mobile robot in presence of disturbances. The proposed control design is constructed by a kinematic controller, based on PD sliding surface using fuzzy sliding mode for the angular and linear velocities disturbances, in order to tend asymptotically the robot posture error to zero. Thereafter a dynamic controller is presented using as a sliding surface design, a fast terminal function (FTF) whose parameters are generated by a genetic algorithm in order to converge the velocity errors to zero in finite time and guarantee the asymptotic stability of the system using a Lyapunov candidate. The elaborated simulation works in the case of different trajectories confirm the robustness of the proposed approach.
In this paper a fast terminal sliding mode control for wheeled mobile robots using a fuzzy logic ... more In this paper a fast terminal sliding mode control for wheeled mobile robots using a fuzzy logic controller is presented. The proposed strategy combines terminal sliding mode and fuzzy logic approaches. The dynamic tracking errors of the mobile robot are divided in two subsystems, a first order subsystem for the angle error and a second order subsystem for the position error. For the first subsystem, a fast terminal sliding mode control law of the angular velocity is designed in order to stabilize the angle error and assure the finite time. For the second subsystem, a combination of global fast terminal sliding mode control and a fuzzy logic controller is designed in order to stabilize the position error and to optimize the reaching time of the control law. The introduced fuzzy logic controller is used to find a compromise between the reaching time of the sliding surface and the convergence time of the position errors. The designed controller is dynamically simulated by using matlab...