Laboratoire Commande et Systemes

La Chaussée-Saint-Victor, France

Laboratoire Commande et Systemes

La Chaussée-Saint-Victor, France
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Boukhnifer M.,Laboratoire Commande et Systemes | Raisemche A.,Laboratoire Commande et Systemes | Diallo D.,University Paris - Sud | Larouci C.,Laboratoire Commande et Systemes
IECON Proceedings (Industrial Electronics Conference) | Year: 2013

In this paper, we present a comparative study of four voting algorithms for two Induction Motor drive fault tolerant control to speed sensor failure schemes. In both Output and Input Fault Tolerant controller, the voting algorithm chooses the most appropriate output signal to ensure the best behavior in degraded mode. The performances are evaluated through simulations of a 7.5kW Induction Motor drive with robustness testing against parametric variations, as well as under load testing. The results show that Euler, Newton-Raphson and Maximum Likelihood voting algorithms are more efficient than the Weighted Average in both Fault Tolerant Control schemes. © 2013 IEEE.


Boukhnifer M.,Laboratoire Commande et Systemes | Raisemche A.,Laboratoire Commande et Systemes | Diallo D.,University Paris - Sud
2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings | Year: 2013

In this paper, we propose to design a Fault Tolerant Controller (FTC) that can cope both with performance and robustness by the hybridization of two controllers. The distinguished feature of this architecture is that it shows structurally how the controller design for performance and robustness can be done separately. It has the potential to overcome the conflict between performance and robustness of the traditional feedback framework. The controller design works in such a way that the feedback speed control of the induction motor will be solely controlled by the proportional integral PI controller for a nominal model without disturbances and H∞ robust controller will only be activated in the presence of the faults, the uncertainties or external disturbances. This FTC is applied to an induction motor drive for electrical vehicle. The simulation results demonstrate the effectiveness of the proposed hybrid fault tolerant control architecture. © 2013 IEEE.


Boukhnifer M.,Laboratoire Commande et Systemes | Ferreira A.,INSA Val de Loire
Asian Journal of Control | Year: 2013

This paper presents a new architecture for control of a micro-teleoperation system using a fault tolerant control (FTC) strategy to compensate for the degradation effects of a piezoelectric-based microgipping system. The proposed strategy uses a passivity approach for the bilateral controller and robust fault tolerant control (FTC) for the two-fingered microgripper system. First, the bilateral controller architecture uses the passivity approach for the teleoperation system in the presence of time delay and scaling factor variations. Second, the FTC controller is designed in such a way that the performance and robustness may be done separately, which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. The controller architecture works in such a way that the feedback control system will be solely controlled by the proportional-integral (PI) performance controller for a nominal model and the robust H ∞ controller will only be active in the presence of uncertainties or degradation disturbances. The experimental and simulation results show clearly the effectiveness of the proposed approach against time delays, scaling factors and fault disturbances. © 2012 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society.


Aouaouda S.,Université Mohamed Chérif Messaadia de Souk-Ahras | Chadli M.,University of Picardie Jules Verne | Boukhnifer M.,Laboratoire Commande et Systemes | Karimi H.R.,University of Agder
Mechatronics | Year: 2015

In this paper, an active Fault Tolerant Tracking Controller (FTTC) scheme dedicated to vehicle dynamics system is proposed. To address the challenging problem, an uncertain dynamic model of the vehicle is firstly developed, by considering the lateral forces nonlinearities as a Takagi-Sugeno (TS) representation, the sideslip angle as unmeasurable premise variables and the road bank angle as an unknown input. Subsequently, the vehicle dynamic states with the sensor faults are jointly estimated by a descriptor observer on the basis of the roll rate and the steering angle measures. Then a fault tolerant tracking controller is synthesized and solutions are proposed in terms of Linear Matrix Inequalities (LMIs). Simulation results show that the proposed FT control approach can effectively improve tracking performance of the vehicle motion. © 2014 Elsevier Ltd. All rights reserved.


Boukhnifer M.,Laboratoire Commande et Systemes
Journal of Electrical Engineering | Year: 2012

Ultrasonic piezoelectric motor technology is an important system component in integrated mechatronics devices working on extreme operating conditions. Due to these constraints, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an ultrasonic piezoelectric motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback control system will be solely controlled by the proportional plus double-integral PI2 performance controller for a nominal model without disturbances and H ∞ robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture. © 2012.


Boukhnifer M.,Laboratoire Commande et Systemes | Chaibet A.,Laboratoire Commande et Systemes | Larouci C.,Laboratoire Commande et Systemes
International Multi-Conference on Systems, Signals and Devices, SSD 2012 - Summary Proceedings | Year: 2012

This paper proposes a robust control technique for a 3-DOF helicopter. The control algorithm uses a robust controllers synthesized by the H infinity loop shaping approach. The simulation results show that the robust controllers stabilize the system and reject the disturbances. The evaluate and the comparative studies between the classical controllers (PI, PD, PID) and the robust H infinity loop shaping controller are given with simulations results in presence of the noise disturbance in the closed loop control of the elevation, pitch and rotation. © 2012 IEEE.


Boukhnifer M.,Laboratoire Commande et Systemes | Chaibet A.,Laboratoire Commande et Systemes | Larouci C.,Laboratoire Commande et Systemes
2011 19th Mediterranean Conference on Control and Automation, MED 2011 | Year: 2011

This paper proposes and evaluates the comparative studies between the classical controllers (PI, PD and PID) with H∞ robust control technique for an 3-DOF helicopter. The control algorithm uses a robust controllers synthesized by the H∞ loop shaping approach. The experimental results show that the robust controllers stabilize the system and reject the disturbances when the system is subjected to uncertainties of a norm lower than the maximum stability margin. © 2011 IEEE.


Boukhnifer M.,Laboratoire Commande et Systemes | Larouci C.,Laboratoire Commande et Systemes | Chaibet A.,Laboratoire Commande et Systemes
Mediterranean Journal of Measurement and Control | Year: 2010

Ultrasonic piezoelectric motor technology is an important system component in integrated mechatronics devices working on extreme operating conditions subjected to multi-disturbance like vibrations, noises disturbances and large parameters variations. Due to these constraints, robustness of the measurement/control interfaces should be taken into account in the motor design. In this paper, a cascaded H∞ controller for a travelling wave ultrasonic motor (TWUM) is considered for wave, torque and speed loop control. To eliminate the nonlinearity, a simple causal model of the TWUM is used. Then, an H∞ synthesis procedure is implemented in order to obtain a good compromise between environmental robustness and motor's performances. Finally, simulation results demonstrate the effectiveness of the proposed H ∞ robust controller in the presence of multi-disturbance. Copyright © 2010 SoftMotor Ltd.


Ouddah N.,Laboratoire Commande et Systemes | Boukhnifer M.,Laboratoire Commande et Systemes | Raisemche A.,Laboratoire Commande et Systemes
2013 10th International Multi-Conference on Systems, Signals and Devices, SSD 2013 | Year: 2013

In this paper an analysis of hybrid architecture with a two-converters parallel configuration for electrical vehicle is presented. Then, two designed energy management strategies (EMS) are discussed: first, The EMS uses a power frequency splitting allowing a natural frequency decomposition of the power loads and secondly the EMS uses the optimal control theory, based on the Pontryagin's minimum principle, which has as objective to minimize hydrogen consumption and simultaneously protect the fuel cell health. Thus, the application of these two different strategies for energy management will provide as a mean of comparison. The simulation results show the effectiveness of the control strategy based on pontryagin's minimum principle in term of the improvement of the fuel consumption. © 2013 IEEE.


Boukhnifer M.,Laboratoire Commande et Systemes | Raisemche A.,Laboratoire Commande et Systemes
Proceedings of the IEEE International Conference on Control Applications | Year: 2012

Induction motor is an important system component in integrated electrical vehicle working on different operating conditions. Due to these operations, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an induction motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback speed control of the induction motor will be solely controlled by the proportional integral PI performance controller for a nominal model without disturbances and H∞ robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture. © 2012 IEEE.

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