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Rezoug A.,Center for the Development of Advanced Technologies | Tondu B.,INSA Toulouse | Hamerlain M.,Center for the Development of Advanced Technologies
IFAC Proceedings Volumes (IFAC-PapersOnline) | Year: 2014

In this paper, experimental study of robust control for robot manipulator actuated by pneumatic artificial muscles was realized. The experimented controller belonged to the class of variable structure systems which is called nonsingular terminal sliding mode (NTSM). The control approach is based on the time delay estimation method. First, the nonsingular terminal sliding mode control approach was presented and the stability of the system in closed loop was analyzed using Lyapunov stability theorem. Second, in order to show the efficiency and the superiority of the proposed approach, experimental results are presented in regulation and trajectory tracking modes using 2-DOF robot manipulator actuated by pneumatic artificial muscles. Third, the controller robustness was tested. © IFAC. Source


Rezoug A.,Center for the Development of Advanced Technologies | Tondu B.,INSA Toulouse | Hamerlain M.,Center for the Development of Advanced Technologies | Tadjine M.,Polytechnic School of Algiers
2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 | Year: 2013

In this paper, we deal with the robust control of robot manipulator actuated by pneumatic artificial muscles. The control consists on the combination of the nonsingular terminal sliding mode which is based on the time delay estimation method and an adaptive fuzzy logic system based on the gradient descends algorithm. First, the nonsingular terminal sliding mode control approach was presented and the stability of the system in closed loop was analyzed using Lyapunov stability theorem. Second, adaptive fuzzy logic scheme is proposed for reducing the chattering effect. Third, in order to proof the efficiency and the superiority of the proposed approach, this last is experimented and compared to nonsingular terminal sliding mode controller and to fuzzy nonsingular terminal sliding mode controller under 2-DOF robot manipulator actuated by pneumatic artificial muscles. © 2013 IEEE. Source


Rezoug A.,Center for the Development of Advanced Technologies | Achour Z.,Center for the Development of Advanced Technologies | Hamerlain M.,Center for the Development of Advanced Technologies
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 | Year: 2014

Many works have been done for controlling nonlinear systems using bio-inspired methods. In this paper, we propose an optimal intelligent controller for an Unmanned Aerial Vehicle (UAV). The controller consists on a type-2 fuzzy system with defuzzifier step was determined through Ant Colony Optimization algorithm (ACO). It is known that, ACO and Particle Swarm Optimization (PSO) algorithm are the most powerful bio-inspired optimization methods. Then, performances of ACO and PSO were compared. All optimized controllers were applied to Birotor helicopter system. Simulations results were given to show superiority of ACO compared with PSO and the classical case (type-2 fuzzy controller without optimization). © 2014 IEEE. Source

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