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RISS 인기검색어
- 검색키워드
- 저자 : Mohamed Chtourou (검색결과 6 건)
- 무료
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- 유료
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An Indirect Model Reference Robust Fuzzy Adaptive Control for a Class of SISO Nonlinear Systems
Hafedh Abid,Mohamed Chtourou,Ahmed Toumi 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.6
In this paper we are interested in robust adaptive fuzzy control of nonlinear SISO systems in the presence of parametric uncertainties. The plant model structure is represented by the Takagi-Sugeno (T-S) type fuzzy system. An indirect adaptive fuzzy controller based on model reference control scheme is proposed to provide asymptotic tracking of reference signal. The controller parameters are computed at each time. The plant state tracks asymptotically the state of the reference model for any bounded reference input signal. Inverted pendulum and mass spring damper are used to check the performance of the proposed controller.
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Ali Zribi,Mohamed Chtourou,Mohamed Djemel 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
This paper deals with the control of nonlinear systems using multimodel approach. The main idea ofthis work consists on the association of the gap metric and the stability margin tools to reduce the number ofmodels constituting the multimodel bank. In fact, the self-organisation map (SOM) algorithm is used, firstly, todevelop a preliminary multimodel bank. Then, the gap metric and the stability margin are computed to determinethe redundancy of the initial multimodel bank. So, the multimodel controller is elaborated based on the reducedmodel bank. Simulations confirm the method for selecting the appropriate number of local models which should beused in the controller design.
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Visual Servoing Based on Efficient Histogram Information
Hajer Abidi,Mohamed Chtourou,Khaled Kaanich,Hassen Mekki 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4
The robustness of a visual servoing task depends mainly on the efficiency of visual selections capturedfrom a sensor at each robot’s position. A task function could be described as a regulation of the values sentvia the control law to the camera velocities. In this paper we propose a new approach that does not depend onmatching and tracking results. Thus, we replaced the classical minimization cost by a new function based onprobability distributions and Bhattacharyya distance. To guarantee more robustness, the information related tothe observed images was expressed using a combination of orientation selections. The new visual selections arecomputed by referring to the disposition of Histograms of Oriented Gradients (HOG) bins. For each bin we assigna random variable representing gradient vectors in a particular direction. The new entries will not be used toestablish equations of visual motion but they will be directly inserted into the control loop. A new formulation ofthe interaction matrix has been presented according to the optical flow constraint and using an interpolation functionwhich leads to a more efficient control behaviour and to more positioning accuracy. Experiments demonstrate therobustness of the proposed approach with respect to varying work space conditions.
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Ben Dhaou Mahdi,Chtourou Rahma,Jallouli Mohamed,Zitouni Hayet,Mhiri Riadh 대한비뇨의학회 2015 Investigative and Clinical Urology Vol.56 No.11
Purpose: We review the literature and describe our technique for laparoendoscopic single-site orchidopexy using a glove port and rigid instruments. We assessed the feasibility and outcomes of this procedure. Materials and Methods: We retrospectively reviewed the case records of all children who had undergone laparoendoscopic single-site orchidopexy by use of a surgical glove port and conventional rigid instruments for a nonpalpable intraabdominal testis between January 2013 and September 2014. Results: Data from a total of 20 patients were collected. The patients' mean age was 18 months. All cases had a nonpalpable unilateral undescended testis. Fourteen patients (70%) had an undescended testis on the right side and six patients (30%) had an undescended testis on the left side. Seventeen patients underwent primary orchidopexy. Three patients underwent single-port laparoscopic Fowler-Stephens orchidopexy for the first and the second stage. Average operating time was 57 minutes (range, 40 to 80 minutes). No patient was lost to follow-up. At follow-up, 2 testes were found to have retracted out of the scrotum and these were successfully dealt with in a second operation. One testis was hypoplastic in the scrotal pouch. There were no signs of umbilical hernia. Conclusions: Single-port laparoscopic orchidopexy using a glove port and rigid instruments is technically feasible and safe for various nonpalpable intraabdominal testes. However, surgical experience and long-term follow-up are needed to confirm the superiority of this technique.
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Co‑simulation Improvement for Uncertain Flexible Robot Arm
Lilia Zouari,Mossaad Ben Ayed,Slim Chtourou,Shaya Abdullah Alshaya,Mohamed Abid 대한전기학회 2020 Journal of Electrical Engineering & Technology Vol.15 No.1
Flexible robot arm driven by Brushless DC Motor (BDCM) under uncertainties represents one of the most complex and heterogeneous system. Indeed, the verifcation phase becomes a great challenge for designers. Avoid and predict risks accurately at earlier stage represents the main purpose of the Computer-Aided Design (CAD) feld. This paper treats the case of robotics system for tracking trajectory problem and attempts to improve the verifcation phase by identifying the most suitable co-simulation technique. For the system analyzed in this paper, the fexible robot arm driven by Brushless DC actuator is verifed using the Model In the Loop (MIL) technique, the Software In the Loop (SIL) technique and CODIS+technique. Each one verifes the system according to a particular abstraction level. The performance of each technique is determined by measuring the accuracy and time simulation. Experimental results have revealed that CODIS+is the most adequate technique for fexible robot arm, outperforming MIL and SIL by 4–5 times.
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Improving Mobile Robot Robustness in Visual Servoing Application
Laroussi Hammouda,Hassen Mekki,Khaled Kaaniche,Mohamed Chtourou 보안공학연구지원센터 2014 International Journal of Control and Automation Vol.7 No.10
This paper proposes a novel method to improve mobile robot robustness with respect to kinematic modeling errors during visual servoing task. Instead of using first-order error-dynamics, as it is usually done, we use the second-order error-dynamics leading to a new control law. The main aim of this approach is to guarantee a robust visual servoing scheme. In fact, the new control law ensures the convergence of the mobile robot to its desired pose even in the presence of modeling errors. Experimental results are presented to validate our approach and to demonstrate its efficiency.
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