علوم وتكنولوجيا

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Browsing علوم وتكنولوجيا by Author "Barra, Kamel"

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    Observer-based adaptive control of robot manipulators
    (ELSEVIER, 2008) Goléa, Noureddine; Goléa, Amar; Barra, Kamel
    This paper presents a fuzzy adaptive control suitable for motion control of multi-link robot manipulators with structured and unstructured uncertainties. When joint velocities are available, full state fuzzy adaptive feedback control is designed to ensure the stability of the closed loop dynamic. If the joint velocities are not measurable, an observer is introduced and an adaptive output feedback control is designed based on the estimated velocities. In the proposed control scheme, we need not derive the linear formulation of robot dynamic equation and tune the parameters. To reduce the number of fuzzy rules of the fuzzy controller, we consider the properties of robot dynamics and the decomposition of the uncertainties terms. The proposed controller is robust against uncertainties and external disturbance. Further, it is shown that required stability conditions, in both cases, can be formulated as LMI problems and solved using dedicated software. The validity of the control scheme is demonstrated by computer simulations on a two-link robot manipulator
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    Predictive direct torque and flux control of an induction motor drive fed by a direct matrix converter with reactive power minimization
    (IEEE, 2013) Lamouchi, Zakaria; Barra, Kamel
    The paper presents a Predictive Direct Torque and Flux Control (PDTFC) of an induction machine fed by a Direct Matrix Converter (DMC). The method combines the merits of Finite States Model Predictive Control (FSMPC) with the ones of DTC control. The proposed control algorithm selects the switching state of the DMC that minimizes the error between torque and flux predictions to their computed values for all different voltage vectors. The optimal voltage vector that minimizes a cost function is then applied to the terminal of the induction machine. Moreover, the proposed predictive control is easily extended to minimize the reactive power in the voltage source side. The control method uses only one sample time and it is very intuitive since it is simple, multi-objective and provides best performances compared to other control laws (fast dynamic response, simple implementation).