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Author: search.filters.author.Kidouche, MadjidSubject: search.filters.subject.Sliding mode control

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    Optimal control design for uncertain aerial manipulator system based on an adaptive approach
    (Inderscience Publishers, 2024) Riache, Samah; Kidouche, Madjid; Doghmane, Mohamed Zinelabidine; Tee, Kong Fah
    In this paper, an optimal controller has been proposed for an aerial manipulator (AM) consisting of a quadrotor uncertain system with a two-degrees-of-freedom robotic arm. Wherein, the dynamics of this system have been derived based on Gauss's principle. The employment of this principal has permitted the pinpoint of the inner structure of the uncertain system and its possible moves. It has kept the AM in a very precise formation to analyse its dynamics and propose the suitable control. The proposed controller is designed using an adaptive approach of the non-singular terminal sliding mode technique. The main contribution is that the proposed approach guarantees both the good tracking of the desired trajectories in finite time and the chattering effect attenuation without overestimating the switching control gains. The design does not necessitate a priori knowledge of the upper limits of disturbances; the stability of the system has been established through the utilisation of Lyapunov theory. The simulation results have proved the effectiveness and robustness of the proposed optimal nonlinear terminal sliding mode technique for such an uncertain system in comparison to the sliding mode controller.
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    Hybrid adaptive Backstepping-Sliding mode control design for Non-linear Under-Actuated systems
    (Springer, 2022) Doghmane, Mohamed Zinelabidine; Kidouche, Madjid; Riache, Samah; Aibeche, Abderrazak
    This paper focuses on studying the inverted pendulum as a case study of under-actuated systems, which has two degrees of freedom and a single actuator. The Lagrangian dynamic model of the system is non-linear and its internal dynamic is not asymptotically stable. The control of this system has been the subject to many studies because the dynamics of the inverted pendulum is closer to those of more complex systems. Besides, this mechanism is a low cost tool for implementation and practical illustration of new control approaches. For the stabilization of the system, it is first necessarily to bring the pendulum from its equilibrium stable position (pendulum pointing downwards) to its unstable equilibrium position. In this study, different control approaches were applied to the system such as sliding mode control, Backstepping method, and their combination. These studied techniques are very implementable for under-actuated systems, where their algorithms are designed with an appropriate choice of parameters. Moreover, the obtained results are very interesting; they show the effectiveness of the proposed hybrid approach in improving the performances, namely, the controller robustness and convergence stability. The hybrid control system has been designed for both stabilization and external disturbances rejection. Hence, the main contribution of this study is the hybridization of adaptive backstepping approach with sliding mode control for under-actuated systems
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    Robust decentralized control for a quadrotor attitude
    (2016) Deia, Yacine; Kidouche, Madjid; Ahriche, Aimad; Lamraoui, Oualid