References of "Alma, Marouane"
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See detailExperimental validation of adaptive control for a Shape Memory Alloy actuated lightweight robotic arm
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Voos, Holger UL et al

in ASME 2018 Conferences on Smart Materials, Adaptive Structures and Intelligent Systems, San Antonio 10-12 September 2018 (2018, September)

This article presents the experimental validation of a Direct Adaptive Control for angular position regulation of a lightweight robotic arm. The robotic arm is single degree-of-freedom (DOF) system ... [more ▼]

This article presents the experimental validation of a Direct Adaptive Control for angular position regulation of a lightweight robotic arm. The robotic arm is single degree-of-freedom (DOF) system, actuated by two Shape Memory Alloy (SMA) wires. The proposed adaptive control is capable of adapting itself to the hysteretic behavior of SMA wires and update its behavior to deal with the changing parameters of the material over time. The closed-loop approach is tested experimentally showing its effectiveness to deal with the highly nonlinear dynamics of the SMA wires. These results are discussed and compared with a classical control approach. The updated design and hardware development and modeling of the robotic arm are shown. [less ▲]

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See detailAdaptive control for a lightweight robotic arm actuated by a Shape Memory Allow wire
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Voos, Holger UL et al

in 16th International Conference on New Actuators, Bremen 25-27 June 2018 (2018, June)

This paper presents the design, model and closed-loop control of a single degree-of-freedom (DOF) lightweight robotic arm actuated by a biased Shape Memory Alloy (SMA) wire. The highly non-linear dynamics ... [more ▼]

This paper presents the design, model and closed-loop control of a single degree-of-freedom (DOF) lightweight robotic arm actuated by a biased Shape Memory Alloy (SMA) wire. The highly non-linear dynamics of SMAs represent a challenge for control tasks, due to phenomena as hysteresis or parameters uncertainty. With this in mind, we propose a control capable to adapt itself to the hysteretic behavior and update its behavior to deal with the changing parameters of the material over time. An adaptive control for position regulation is presented. This control includes a set of techniques, providing a systematic way to adjust the control parameters in real time, so maintaining the stability of the system and a desired performance, while dealing with parameter and model uncertainties. The closed-loop approach is tested in experimentally showing its effectiveness to deal with the highly non-linear dynamics of the SMA wire. [less ▲]

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See detailLMI-Based H_infty Nonlinear State Observer Design for Anaerobic Digestion Model
Chaib Draa, Khadidja UL; Voos, Holger UL; Alma, Marouane et al

in IEEE Mediterranean Conference on Control and Automation, Valletta 3-6 July 2017 (2017, July)

This note deals with the design of an $H_{\infty}$ nonlinear state observer for the anaerobic digestion model. Positively, the designed observer is an unified one that can be used for different class of ... [more ▼]

This note deals with the design of an $H_{\infty}$ nonlinear state observer for the anaerobic digestion model. Positively, the designed observer is an unified one that can be used for different class of systems, mainly linear systems, Linear Parameter Varying (LPV) systems with known and bounded parameters, and nonlinear Lipschitz systems. Applying the Lyapunov theory and theH¥ criterion, Linear Matrix Inequality (LMI) condition is synthesised and solved to obtain the designed observer gains. The novelty of our work consists in the relaxation of the synthesized LMI condition through the inclusion of additional decision variables. This was possible due to the use of a suitable reformulation of the Young’s inequality. Stability, effectiveness and potency of the theoretical results are confirmed by the simulation results. [less ▲]

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See detailLMI-Based Discrete-Time Nonlinear State Observer for an Anaerobic Digestion Model
Chaib Draa, Khadidja UL; Voos, Holger UL; Alma, Marouane et al

in IEEE International Conference on Systems and Control, Batna 7-9 May 2017 (2017, May)

This paper deals with the design of a discrete time nonlinear observer for an anaerobic digestion process. The designed observer is devoted to a general class of systems, precisely linear systems, LPV ... [more ▼]

This paper deals with the design of a discrete time nonlinear observer for an anaerobic digestion process. The designed observer is devoted to a general class of systems, precisely linear systems, LPV systems with known and bounded parameters, and nonlinear Lipschitz systems. In order to ensure stability of the estimation error, a new LMI condition is proposed. In this LMI, additional decision variables are included to enhance its feasibility. Indeed, this was possible due to the use of a suitable reformulation of the Young’s inequality. Numerical simulations using the investigated two-step anaerobic digestion model show the effectiveness of the proposed LMI methodology. [less ▲]

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See detailObserver design for Lightweight Robotic arm actuated by Shape Memory Alloy (SMA) wire
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Voos, Holger UL et al

in Quintanar Guzman, Serket; Kannan, Somasundar; Voos, Holger (Eds.) et al 14th International Workshop on Advanced Control and Diagnosis, Bucharest, Romania, 16-17 November 2017 (2017)

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See detailInvariant Observer Applied to Anaerobic Digestion Model
Chaib Draa, Khadidja UL; Voos, Holger UL; Alma, Marouane et al

in IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Berlin, Germany, 2016 (2016, September)

In this note, we design an invariant observer for a two step (acidogenesis-methanogenesis) mass balance nonlinear model, in order to estimate simultaneously all bacteria and substrate concentrations found ... [more ▼]

In this note, we design an invariant observer for a two step (acidogenesis-methanogenesis) mass balance nonlinear model, in order to estimate simultaneously all bacteria and substrate concentrations found in the anaerobic digestion process. The particularity of the designed observer is the use of only the methane flow rate which is cheap to measure and commonly measured online even at industrial scale. [less ▲]

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See detailNew unified H-infinity dynamic observer design for linear systems with unknown inputs
Gao, Nan; Darouach, Mohamed; Voos, Holger UL et al

in Automatica (2016), 65

In this paper, a unified dynamic observer (UO) is proposed for a class of linear systems in the presence of unknown inputs and disturbances. It generalizes the existing results on the proportional ... [more ▼]

In this paper, a unified dynamic observer (UO) is proposed for a class of linear systems in the presence of unknown inputs and disturbances. It generalizes the existing results on the proportional observer (PO), the proportional integral observer (PIO) and the dynamic observer (DO). The design approach of the UO is derived from the solution of the linear matrix inequality (LMI), based on the new dynamic observer formulation and the solution of the algebraic constraints obtained from the unbiased estimation error. A numerical example is provided to show the applicability and the performance of our results. [less ▲]

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See detailLinearizing Control of Biogas Flow Rate and Quality
Chaib Draa, Khadidja UL; Voos, Holger UL; Alma, Marouane et al

in 20th IEEE Int. Conference on Emerging Tecnologies and Factory Automation ETFA 2015, Luxembourg, 8-11 Sept. 2015 (2015, September)

In this paper, we propose to control the quantity and quality of the produced biogas from the anaerobic digestion of organic matter, digested in either a continuous stirred tank reactor or a fixed bed ... [more ▼]

In this paper, we propose to control the quantity and quality of the produced biogas from the anaerobic digestion of organic matter, digested in either a continuous stirred tank reactor or a fixed bed digester. This is motivated by the aim of providing the power grid with a stable amount of energy despite fluctuations in the treated waste concentration and composition. Therefore, we apply the linearizing control principe to a two step (acidogenesis-methanogenesis) mass balance non linear model, all with the introduction of two new control inputs reflecting the addition of stimulating substrates (acetate and alkalinity). To show the performance of the synthesized control laws we simulate the process under an organic shock load feeding. [less ▲]

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See detailAdaptive Control for the Methane Flow rate in Biogas Plants
Chaib Draa, Khadidja UL; Voos, Holger UL; Alma, Marouane et al

in 3rd IEEE Int. Conference on Control, Engineering and Information Technology, Tlemcen, Algeria, 2015 (2015, May)

In this paper we consider the control of the methane flow rate in biogas production using both a continuous stirred tank reactor and a fixed bed digester. The goal is to regulate the methane flow rate in ... [more ▼]

In this paper we consider the control of the methane flow rate in biogas production using both a continuous stirred tank reactor and a fixed bed digester. The goal is to regulate the methane flow rate in order to match an energy demand in spite of variations in the waste concentrations. For this purpose, a two step (acidogenesis-methanogenesis) nonlinear mass balance model is considered. Due to the costs and complexity of the measurements an adaptive observer is designed for the acidogenesis reaction rate. The stability of the observation part is proved and its implementation with the designed adaptive control law for the methane flow rate and the acetate concentration in the reactor are confirmed by simulations. [less ▲]

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See detailDecentralized Dynamic Observer-Based Control for Large Scale Nonlinear Uncertain Systems
Gao, Nan; Darouach, Mohamed; Alma, Marouane et al

in American Control Conference ACC 2015, Chicago, USA (2015)

The objective of this paper is to propose a decentralized control for a class of large scale uncertain systems. These systems consist of interconnected subsystems where the nonlinear interconnections are ... [more ▼]

The objective of this paper is to propose a decentralized control for a class of large scale uncertain systems. These systems consist of interconnected subsystems where the nonlinear interconnections are quadratic bounded. The proposed control is based on a new form of dynamic observer (DO) and the popular used proportional observer (PO) and proportional integral observer (PIO) are only particular cases of it. The control method is derived from the solution of linear matrix inequalities (LMIs), on the basis of the algebraic constraints obtained from the analysis of estimation error. A numerical example is provided to illustrate the effectiveness of the proposed method. [less ▲]

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See detailH-infinity dynamic observer design for linear time invariant systems
Gao, Nan; Darouach, Mohamed; Voos, Holger UL et al

in 2014 IEEE 53rd Annual Conference on Decision and Control (CDC), Los Angeles, USA (2014, December)

This paper proposes an H-infinity dynamic observer (DO) for a class of linear time invariant (LTI) systems in the presence of disturbances. It generalizes the existing results on the proportional observer ... [more ▼]

This paper proposes an H-infinity dynamic observer (DO) for a class of linear time invariant (LTI) systems in the presence of disturbances. It generalizes the existing results on the proportional observer (PO), the proportional integral observer (PIO) and the DO. The design method is derived from a new formulation of linear matrix inequality (LMI), based on the solutions of the algebraic constraints obtained from the unbiasedness conditions of the estimation error. A numerical example is provided to show the applicability and performances of our observer. [less ▲]

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See detailAdaptive Control of Aerial Manipulation Vehicle
Kannan, Somasundar UL; Alma, Marouane; Olivares Mendez, Miguel Angel UL et al

in Porceedings of the 4th IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING (2014, November)

Adaptive Control of an Aerial Manipulation Vehicle is discussed here. The aerial manipulation vehicle consisting of a quadrotor and a robotic arm has a highly coupled dynamics. The nonlinear coupling ... [more ▼]

Adaptive Control of an Aerial Manipulation Vehicle is discussed here. The aerial manipulation vehicle consisting of a quadrotor and a robotic arm has a highly coupled dynamics. The nonlinear coupling introduces additional forces and moments on the quadrotor which prevents it from precisely hovering at a position and tracking of reference trajectory. A decentralized control of robotic arm and quadrotor is considered. The robotic arm is controlled by a PID approach with acceleration feedback, and the quadrotor is controlled by PD method in the inner loop and adaptive position control in the outer loop. The proposed method successfully handles the problem of hover stabilization and trajectory tracking. [less ▲]

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See detailH∞ decentralized dynamic-observer-based control for large-scale uncertain nonlinear systems
Gao, Nan; Darouach, Mohamed; Alma, Marouane et al

in IEEE Int. Conf. on Control, Decision and Information Technologies (CoDIT), Metz, France, 3-5 Nov. 2014 (2014, November)

In this paper an H∞ decentralized observer-based control is proposed for large-scale uncertain nonlinear systems. These systems are coupled by N interconnected subsystems where the interconnections ... [more ▼]

In this paper an H∞ decentralized observer-based control is proposed for large-scale uncertain nonlinear systems. These systems are coupled by N interconnected subsystems where the interconnections satisfy the quadratic constraints. The proposed control is based on a new form of dynamic observer (DO) which generalizes the existing results on the proportional observer (PO) and the proportional integral observer (PIO). The design approach is derived from the solution of matrix inequality and based on the algebraic constraints obtained from the analysis of the estimation error. A numerical example is provided to show the effectiveness of the proposed control. [less ▲]

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See detailRobust unified H_infinity dynamic observer design for uncertain systems
Gao, Nan; Darouach, Mohamed; Voos, Holger UL et al

in 33rd Chinese Control Conference (CCC), Nanjing, China, 28-30 July 2014 (2014, July)

In this paper, a new robust unifiedH∞ dynamic observer (UDO) design for systems in the presence of time-varying uncertainty and disturbances is presented. The observer design method is derived from the ... [more ▼]

In this paper, a new robust unifiedH∞ dynamic observer (UDO) design for systems in the presence of time-varying uncertainty and disturbances is presented. The observer design method is derived from the solution of the liner matrix inequality (LMI), based on the solution of the algebraic constraint obtained from the analysis of the estimation error. A numerical example is presented to show the performance of the proposed observer. [less ▲]

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See detailH_∞ decentralized dynamic-observer-based control design for large-scale nonlinear intercon-nected systems
Gao, Nan; Darouach, Mohamed; Alma, Marouane et al

in Transaction on IoT and Cloud Computing (2014), 2(3), 46-66

Detailed reference viewed: 54 (1 UL)