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In this work, we propose a novel robust dynamic controller in order to stabilize a walking biped robot with input and output constraints. Firstly, the trajectory of the robot is generated via the Zero Moment Point method based on the resolution of a convex optimization problem with Linear Matrix Inequalities. Then, the tracking of a referential trajectory is insured by the design of an optimal dynamic...
This work aims to design an optimal dynamic controller to stabilize the walk of a biped robot even in the presence of input and output constraints. In a first time, the robot's trajectory is generated via the Zero Moment Point criterion based on the resolution of a convex optimization problem with Linear Matrix Inequalities. In a second time, the tracking of a reference trajectory is insured by the...
This work presents a new maximum power point tracking algorithm applied to a photovoltaic water pumping system in order to optimize the photovoltaic power generation. This system is driven by an induction motor controlled by a cascade sliding mode control in order to track a set of reference trajectories such as currents, rotor flux and speed. By using the Matlab-Simulink software, modeling and simulation...
In this work, we present an experimental study of PV grid-connected system installed in the Faculty of Sciences of Tunisia. This system is composed by a PV generator, a buck-boost DC-DC converter, a voltage inverter and a grid utility. Two control lows are developed in this work. The first is the sliding mode control applied to the dc-dc converter in order to insure the required reference DC voltage...
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