Publications Scientifiques

Permanent URI for this communityhttps://dspace.univ-boumerdes.dz/handle/123456789/10

Browse

Has files: NoSubject: search.filters.subject.Sliding Mode Control

Search Results

Now showing 1 - 2 of 2
  • No Thumbnail Available
    Item
    Robust decoupled adaptive fuzzy sliding mode control for a class of underactuated mechanical systems
    (Levrotto and Bella, 2021) Nafa, Fares; Boudouda, Aimad; Smaani, Billel
    Nowadays, Underactuated Mechanical Systems (UMS) remain an interesting research field for control laws development. This work deals with the design of an adaptive controller on the basis of Sliding Mode Control (SMC) and the universal approximation property of Fuzzy Systems (FS) for a classe of second order UMS two Degrees of Freedom (DOF). We first design an SMC law to force a coupled sliding urface to be reached in finite time. Second, by considering model uncertainties, fuzzy systems are then introduced to approximate the unknown controller. The adjustable parameters are updated by using gradient descent method. Through the stability analysis for both cases, it is shown that the system converges asymptotically to its equilbrium points in finite time. To demonstrate the validity and the performance of the proposed methods, an appropriate numerical application to an overhead crane systems is presented
  • No Thumbnail Available
    Item
    Modeling and control of UAV quadrotor
    (IEEE, 2019) Zammoum Boushaki, Razika; Aribi, Yacine; Loubar, Hocine; Hamza, Younes; Kouzou, Abdellah
    Since the advances in technologies and the ability to manufacture miniature sensors and controllers using the Micro-Electro-Mechanical Systems (MEMS) technologies, there have been a lot of advances in the Unmanned Aerial Vehicle (UAV) area. A lot of the research conducted focused on the quadrotor due to its previously mentioned advantages of easier manufacturing, compactness and maneuverability among others. a detailed description of the dynamic modelling of the Quadrotor is presented. Various control strategies like the Proportional Derivative Control, the Sliding Mode Control and the Backstepping Control methods have been elucidated and implemented in MATLAB and SIMULINK. Simulations have been carried out and the results have been presented