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This paper considers one of the most widespread problems in mobile robotics called the natural environmental constraint evolution of terrestrial mobile robots problems. The lands with severe slopes are among the unreachable areas by mobile robots. To overcome this critical problem, a particular architecture is proposed to help wheeled robots to maintain steady movement on acute slopes. The principle...
Fault estimation is considered as one of the most essential problem in diagnosis domain. In this paper, a simultaneous state and fault estimation is treated for state time delay system. The fault estimation technique is based on H∞ optimization method to addressed the subject of robustness in the presence of disturbance and uncertainties. The fault estimation is made by using the Lyapunov Krasovskii...
H∞ formulation of the robust fault tolerant control problem for uncertain systems with state time-delays is studied in this paper. A robust control law is then designed in order to automatically compensate actuator and sensor faults, based on a performance index as H∞ model-matching problem. Where, the gain is obtained via Linear Matrix Inequality (LMI) feasibility conditions. Indeed, a new condition...
This paper deals with a Luenberger observer for a class of Takagi Sugeno (TS) descriptor systems. This kind of systems represents many fields as chemical, robotics and electrical systems. A new approach is used to study the stability analysis of the Takagi Sugeno descriptor observer system. The state estimation error leads to formulate linear matrix inequalities (LMIs) which solve the observer gains...
This paper deals with the design of a robust fault detection filter for a two stage chemical reactor which is a complex process, susceptible to faults, that can minimize productivity and humans safety. This process is considered as a time-delay system with both unknown inputs and parameter uncertainties. Therefore, a multi-objective optimization technique is used to introduce a new performance index...
This paper deals with the state estimation for non linear descriptor systems described by Takagi-Sugeno (TS) which presents an unknown inputs. Indeed, the purpose of design observer is to estimate the state variables as well as the unknown inputs which simultaneously influence the states and the outputs of the system. The idea is to consider model with unmeasurable premise variables when the decision...
An active control law design for uncertain linear systems with state time-delay is addressed in this paper, in order to guarantee dynamic performances and compensate fault effects. First, the fault tolerant control strategy is designed based on Frobenius norm by minimizing the distance between the closed-loop model of the faulty system and a reference one. Therefore, stability issue is ensured via...
In this paper, the H∞ Loop Shaping Control (HLSC) strategy was studied; a systematic approach for weight selection based on the sensitivity function was proposed and applied to a first-order time delay system, then compared to the Internal Model Control (IMC) approach. Two cases were proposed for time delay: upper or lower then system time constant. The synthesis was based on first and second order...
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