Publications Scientifiques

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Author: search.filters.author.Ahriche, AimadHas files: No

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    Enhanced UAVs mobility models for surveillance and intruders detection missions
    (Springer, 2022) Boutalbi, Mohammed Chaker; Riahla, Mohamed Amine; Ahriche, Aimad
    The use of chaotic solutions in designing UAVs’ (Unmanned Aerial Vehicles) mobility models for surveillance systems is becoming the trend in the last years. The substitution of the random part by a chaotic solution of a dynamic system has proven to be more effective. Therefore, this paper presents CSC (Chaotic Squad Coordination), a novel implementation scheme of UAVs mobility models in surveillance and intruders detection missions. The CSC comes as a low-cost solution to make the UAVs swarm efficiently explore the area of interest and detect malicious intruders, all in a spontaneous manner using a chaotic solution without the need for energy-consuming approaches like the ACO algorithm or deterministic group flocking rules. The used strategy guards the swarm’s movement unpredictability and offers the possibility of implementing a scalable collision avoidance flight plan. In addition, we designed a hybrid chaotic mobility model that switches between two chaotic attractors (Rossler and Ma systems). We used an iterative evolutionary algorithm to optimize its parameters in order to improve the overall delivered quality of service. Extensive simulation experiments are provided in this work to compare seven UAVs chaotic mobility models. The results confirmed the superiority of the CSC strategy that produced better quality of service concerning the swarm’s connectivity, the area coverage, and intruders detection, where the designed mobility model provides an overall reasonable trade-off in parallel with its higher area coverage fairness compared with its peers (CSC-based mobility models)
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    State feedback control for stabilization of PMSM-based servo-drive with parametric uncertainty using interval analysis
    (Wiley, 2021) Khelouat, Lila; Ahriche, Aimad; Mekhilef, Saad
    For a class of multivariable uncertain dynamic systems, the parametric uncertainties are belonging to a closed interval with lower and upper boundaries a priori known. Thereby, these systems can be analyzed based on interval structures and interval matrices. In this article, a fully interval analysis–based method is developed and applied to the state feedback control of permanent magnet synchronous motor (PMSM) in order to design a stabilized servo-drive. Indeed, the parametric uncertainties are investigated in state space representation, which represents a simplified and effective way to analyze the robust stability for the interval system. Firstly, a robust state feedback control technique, dedicated to an uncertain system is introduced. For that, the robust controllability test is performed for the interval system by using the linear independency condition of column interval vectors. It is proven that there is a direct correlation between the controllability test and the existence of a robust modal P-regulator for the correction of the uncertain system. It is also shown that it invariably relies on each input's controllability indices and thus their effect on the uncertain system's state variables. In order to ensure stability in a closed loop, the modal P-regulator is designed with possibility of incorporation of an integral action. The modified modal PI regulator has the ability to reject disturbance and guarantee zero-steady-state error for step inputs. In fact, the stability is achieved by placing all coefficients of the system characteristic polynomial within assigned intervals based on Kharitonov's Theorem. The technique provides a matrix gain with interval coefficients for the stabilizing regulator. Finally, the developed approach is applied to position control of linearized model of the PMSM-based servo-drive, presenting parametrical uncertainties. To demonstrate the efficiency of the proposed method, a numerical and graphical comparison of conventional LQR and pole placement, state feedback controllers for the PMSM servo-drive with the robust interval controller is provided. In order to verify the feasibility of the whole proposed technique, calculations and simulations are performed by using Matlab/Intlab toolbox. Real-time simulation is also investigated using Lab-View Compact-RIO