{"title":"Linear Controller Synthesis for Master System using Extended Physiological Proprioception in Upper-Limb Prosthesis","authors":"K. Iyer, N. Manjarekar","doi":"10.1109/ICSC47195.2019.8950611","DOIUrl":"https://doi.org/10.1109/ICSC47195.2019.8950611","url":null,"abstract":"A Linear Controller is proposed for Master system in Upper-Limb Prosthesis using Extended Physiological Proprioception (EPP). The implemented design aims to provide fair tracking for the Master-Slave system. The control law is designed using a novel, Single-motor Master system using PID for different values of design parameters such as settling time and peak overshoot. A second order of system is used for the control synthesis. Simulation results show that control law works satisfactory, even in presence of non-linear friction due to lead-screw mechanism. A further comparison of simulation results between Single and Double motor Master system shows that Single Master scheme is superior in terms of energy consumption and torque requirement.","PeriodicalId":162197,"journal":{"name":"2019 8th International Conference on Systems and Control (ICSC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115655182","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Unscented Kalman Observer*","authors":"Assia Daid, E. Busvelle, M. Aidène","doi":"10.1109/ICSC47195.2019.8950505","DOIUrl":"https://doi.org/10.1109/ICSC47195.2019.8950505","url":null,"abstract":"The extended Kalman filter is an exponentially converging observer as soon as it is written in a canonical form of observability and in its high-gain form. It is shown that unlike extended Kalman filter, unscented Kalman filter can not be an exponentially converging observer. We propose a slight modification of the unscented Kalman filter to build an exponentially converging observer called unscented Kalman observer. Performances of this new observer are illustrated on an example of geolocation problem.","PeriodicalId":162197,"journal":{"name":"2019 8th International Conference on Systems and Control (ICSC)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124864875","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Mixed H2/H∞ Strategy in Control Law Parameter Design for Linear Strictly Metzlerian Systems","authors":"D. Krokavec, A. Filasová","doi":"10.1109/ICSC47195.2019.8950497","DOIUrl":"https://doi.org/10.1109/ICSC47195.2019.8950497","url":null,"abstract":"The paper provides linear matrix inequality conditions in mixed $mathrm{H}_{2}/ mathrm{H}_{infty}$ control design for strictly Metzlerian linear systems. The goal of this formulation is to design the state controller guaranteing $mathrm{H}_{infty}$ norm disturbance attenuation and optimized H2 norm performance. The problem is formulated multi-objective, respecting the constraints implying from H2 and $mathrm{H}_{infty}$ fulfillment, as well as from the parameter constraints defined by the system matrix structures in the strictly Metzlerian system description. The design character guaranties asymptotic stability realized in a strictly Metzlerian closed-loop system form. It is shown that enhanced design conditions span such a synthesis framework for strictly Metzlerian linear system, where matrix variables take diagonal form.","PeriodicalId":162197,"journal":{"name":"2019 8th International Conference on Systems and Control (ICSC)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124681565","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Mabrouk Boubezoula, A. Hassam, S. Khesrani, F. Srairi, O. Boutalbi
{"title":"A New High Performance Control Strategy of Mobile Manipulator using Fuzzy-Flatness Approach with Gains Adjustment in Real Time","authors":"Mabrouk Boubezoula, A. Hassam, S. Khesrani, F. Srairi, O. Boutalbi","doi":"10.1109/ICSC47195.2019.8950641","DOIUrl":"https://doi.org/10.1109/ICSC47195.2019.8950641","url":null,"abstract":"In this paper, a new algorithm for controlling in real time the non-holonomic wheel mobile manipulator behavior is proposed. The developed control strategy is based on coupling between two techniques which are the differential flatness and the fuzzy logic. The first one is used to eliminate the nonlinearity effect and to generate the optimal trajectories and the second to adjust in real time the gains of control law. The flatness of the mobile manipulator is proved through its model and a polynomial trajectory has been generated in flat output space to be followed by the robot. In addition the behavior of robot in running environment is simulated in virtual reality using MobileSim, where a good agreement is found between the virtual reality and the numerical results.","PeriodicalId":162197,"journal":{"name":"2019 8th International Conference on Systems and Control (ICSC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126670386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Robust Control Design for Quadrotor Trajectory Path Tracking","authors":"E. Chater, Halima Housny, H. E. Fadil","doi":"10.1109/ICSC47195.2019.8950509","DOIUrl":"https://doi.org/10.1109/ICSC47195.2019.8950509","url":null,"abstract":"This paper deals with the tracking control problem of a quadrotor system in presence of uncertain system parameter due to unknown payload mass. To compensate for this disturbance, an integral backstepping controller is developed for this nonlinear system. Hence, based on backstepping techniques, an outer loop is firstly designed for translational tracking control. Then, without using simplified dynamics or small angle assumption, the references for attitude angles are derived using the coupled-state between (lateral, longitudinal) positions and (roll, pitch) Euler angles, which allows getting suitable trajectory references to the auxiliary inner loop designed for rotational tracking objective. The analysis of the control system stability is carried out using Lyapunov approach, and shows that the overall closed loop stability is guaranteed and that the proposed control laws yield asymptotic tracking for translational as well as for rotational quadrotor motions. A simulation example also shows that the proposed control strategy is able to stabilize the system along with perfect trajectory tracking performances, in spite of unknown payload mass.","PeriodicalId":162197,"journal":{"name":"2019 8th International Conference on Systems and Control (ICSC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114351976","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Robust H∞ filtering for uncertain 2-D singular systems with delays","authors":"S. Kririm, A. Hmamed","doi":"10.1109/ICSC47195.2019.8950572","DOIUrl":"https://doi.org/10.1109/ICSC47195.2019.8950572","url":null,"abstract":"This paper addresses the robust $Hinfty$ Filter Design for uncertain 2-D discrete singular systems with delays described by the Roesser model. Attention is focused on the design of an 2-D filter such that the error system is acceptable, jump modes free and internal stable, and preserves a guaranteed $Hinfty$ performance. Thanks to the use of a larger number of slack variables, a new linear matrix inequality condition obtained for the existence of desired $Hinfty$ filters. Also, it is shown that the proposed filter design method is general containing recently published results as particular cases. Finally, illustrative examples are presented to show the applicability of the proposed method.","PeriodicalId":162197,"journal":{"name":"2019 8th International Conference on Systems and Control (ICSC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124085793","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Fixed Low-Order Controllers Achieving Comprehensive Admissibility and H∞ Performance","authors":"M. Yagoubi","doi":"10.1109/ICSC47195.2019.8950583","DOIUrl":"https://doi.org/10.1109/ICSC47195.2019.8950583","url":null,"abstract":"This paper presents primarily some new parametrizations of all static output-feedback controllers achieving admissibility or $H_{infty }$ performance for linear time-invariant descriptor systems. The parametrizations in question are in terms of a positive definite matrix and a generalized definite negative matrix and is rooted in the geometry of stable matrices set in state-space case. These parametrizations contribute to explicitly exhibit the whole structure of controllers, with fixed low-order, achieving comprehensive $H_{infty }$ performance for a descriptor system control design under unstable and non-proper weights. An alternating projections based algorithm is proposed to solve such control design problem. An example is given to illustrate the efficiency of the proposed technique.","PeriodicalId":162197,"journal":{"name":"2019 8th International Conference on Systems and Control (ICSC)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121737142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Ball and Beam Tracking Application with Linear Quadratic Control Design","authors":"Rahat Ali, F. Malik, Muwahida Liaqat, M. Shah","doi":"10.1109/ICSC47195.2019.8950644","DOIUrl":"https://doi.org/10.1109/ICSC47195.2019.8950644","url":null,"abstract":"A proposed linear quadratic control scheme implemented on under actuated nonlinear ball and beam practical system. A suggested control strategy effectively tracks a time varying sinusoidal reference signal. A closed loop control is based on specially featured error dynamics based cost function. System states estimation is carried out by using flatness property in Brunovsky canonical form with Kalman filter. The designed control scheme is validated through practical tracking results for sinusoidal reference tracking signal with ball and beam system.","PeriodicalId":162197,"journal":{"name":"2019 8th International Conference on Systems and Control (ICSC)","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132027836","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A Structured Treatment of Wave-Based Control (WBC) and Discussions on Earlier Misconceptions","authors":"M. Valášek, O. Marek, N. Olgaç, Z. Neusser","doi":"10.1109/ICSC47195.2019.8950642","DOIUrl":"https://doi.org/10.1109/ICSC47195.2019.8950642","url":null,"abstract":"An interesting concept of wave-based control(WBC) has been around for about two decades now. Its core objective is to control the end-point motions of 1-D lumped mass flexible chains using one single base actuator and a motion sensor from the immediately adjacent mass. This severely underactuated mechanism is shown to achieve a benchmark point-to-point motion without (or with considerably attenuated) residual oscillations. WBC strategy is based on a set of hypothetical motion waves (in forward and backward directions) as the decomposition of physical motion of the masses. This paper revisits the concept in order to rectify several misconceptions, especially the earlier claim that such a control strategy can be created without any prior knowledge on the system dynamics. In particular the stability of the controlled system is revisited. Furthermore we offer one well-defined step-by-step procedures for formulating a WBC law and suggest vast opportunities for future explorations. An example parametric optimization pathway is also presented.","PeriodicalId":162197,"journal":{"name":"2019 8th International Conference on Systems and Control (ICSC)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131890801","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
M. Labbadi, S. Nassiri, L. Bousselamti, Mouad Bahij, M. Cherkaoui
{"title":"Fractional-order Fast Terminal Sliding Mode Control of Uncertain Quadrotor UAV with Time-varying Disturbances","authors":"M. Labbadi, S. Nassiri, L. Bousselamti, Mouad Bahij, M. Cherkaoui","doi":"10.1109/ICSC47195.2019.8950657","DOIUrl":"https://doi.org/10.1109/ICSC47195.2019.8950657","url":null,"abstract":"This paper investigates the trajectory-tracking problem of an uncertain quadrotor in the presence of complex disturbances. A new fractional-order terminal sliding mode control method (FOTSMC) is designed for a quadrotor attitude, which can increase the control robustness against the external disturbances and modeling uncertainty, and decrease the chattering problem. A new fractional non-integer sliding mode control technique for a quadrotor position is designed to stabilize its state variables and attenuate wind disturbance and the effects of variation in the mass. The stability analysis is studied by the Lyapunov theory. Numerical simulation for complex flight trajectory under disturbances is given to illustrate the validity of the proposed methods.","PeriodicalId":162197,"journal":{"name":"2019 8th International Conference on Systems and Control (ICSC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132766525","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}