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This paper deals with innovation in energy environment. The solar industries have to change and adapt new technologies in order to ensure a better quality and respect the international standards. Scheuten junction box modules are... more
This paper deals with innovation in energy environment. The solar industries have to change and adapt new technologies in order to ensure a better quality and respect the international standards. Scheuten junction box modules are considered as potential risk for the end users and for the environment. These activities propose a solution to avoid Scheuten modules’ faults by proposing a new junction box design. An efficient solution is proposed using smart diode technologies. A hotspot test is studied in order to prove the effectiveness of the developed new junction box module. Also relevant I-V curves are shown. Moreover, important observations related to the new module and the active bypass diodes are discussed.
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Most of the physical systems in robotics and mechatronics are nonlinear and uncertain. They can be modelled as second order uncertain systems.The main objective of this note is to solve state observation and external disturbances... more
Most of the physical systems in robotics and mechatronics are nonlinear and uncertain. They can be modelled as second order uncertain systems.The main objective of this note is to solve state observation and external disturbances estimation for a classe of second order nonlinear systems. The proposed method relies mainly on the high gain observer as an estimator that tries to estimate the state vector and at the same time identifies the system unknown combined structured and unstructured uncertainties. The proposed method effectiveness is demonstrated through simulation and experiments on the well-known Twin Rotor MIMO (TRMS) educational test bed of Feedback Instrumentation.
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Switching losses and conduction losses have a great impact on the efficiency of power electronics converters as they are significant for high switching frequency applications. This paper proposes generating power from the vehicle... more
Switching losses and conduction losses have a great impact on the efficiency of power electronics converters as they are significant for high switching frequency applications. This paper proposes generating power from the vehicle aerodynamic drag on the highway utilizing the vertical axis wind turbine. In order to address the power losses for a new concept system, a boost converter connected to the turbine will be used in order to get a proper output voltage. The boost converter has been controlled using two different control strategies. One was the perturb and observe and the other was the incremental conductance strategy that were used for MPPT. In this paper, the switching and conduction losses using both strategies will be evaluated and compared using MATLAB/Simulink software and PLECS circuit.
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Résumé This paper introduces a methodology of modeling for a class of Non Linear Complex Switched Systems in interaction with their en-vironment. The models have to be adequate either for identification or for diagnosis and control. The... more
Résumé This paper introduces a methodology of modeling for a class of Non Linear Complex Switched Systems in interaction with their en-vironment. The models have to be adequate either for identification or for diagnosis and control. The effectiveness of this modeling technique is illustrated by experimental results obtained on a greenhouse.
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This paper deals with the design of a sliding mode observer using Bond graph for the control of the dynamics of a vehicle. The control objective is to define and develop effective procedures making it possible to observe dynamics... more
This paper deals with the design of a sliding mode observer using Bond graph for the control of the dynamics of a vehicle. The control objective is to define and develop effective procedures making it possible to observe dynamics correctly in a robust way and to detect certain situations sufficiently early. This method is shown to be robust with respect to perturbation and parametric uncertainties. Experimental results illustrate the efficiency of the proposed approach.
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International audienceIn this paper, a nonlinear predictive control of a platoon of several vehicles is proposed by using non-linear robotic form model of the vehicles. The model used represents the longitudinal, lateral and yaw movement... more
International audienceIn this paper, a nonlinear predictive control of a platoon of several vehicles is proposed by using non-linear robotic form model of the vehicles. The model used represents the longitudinal, lateral and yaw movement for each vehicle in the fleet. This control approach allows controlling the fleet, uses the available information, ensures a safe distance between vehicles to avoid collisions and follows the path of the leader. The robustness of the control will be studied in order to assess the different errors occurring in the estimated parameters values
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Permanent Magnet Synchronous Generator (PMSG) becomes one of the most used generator type in the variable speed Wind Energy Conversion System (WECS). Several current control strategies have been used in literature. Among these strategies,... more
Permanent Magnet Synchronous Generator (PMSG) becomes one of the most used generator type in the variable speed Wind Energy Conversion System (WECS). Several current control strategies have been used in literature. Among these strategies, Sliding Mode Control (SMC) has been applied widely. However, the chattering phenomenon, caused by the oscillations, is the main drawback of SMC. In our paper, we propose a new method based on the adaptive Sliding Mode Control (ASMC) in order to eliminate the chattering effect. The performance of both controllers, CSMC and ASMC, has been evaluated through simulation in MATLAB/SIMULINK.
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Since their emergence, lithium-ion batteries have played a major role in the growing market of electric vehicles thanks to their characteristics in term of power and energy density. However, the battery expected lifetime is still under... more
Since their emergence, lithium-ion batteries have played a major role in the growing market of electric vehicles thanks to their characteristics in term of power and energy density. However, the battery expected lifetime is still under investigation since it is influenced by State of charge, temperature and current rates. Which makes battery states prediction and thermal management essential to improve the Li-ion battery performance. Combining a three-state equivalent circuit model and a two-state thermal model, this paper proposes a coupled electro-thermal battery model capturing the State of Charge (SOC), the battery surface and core temperatures. Aiming to control the battery usage and avoid heating, the model is expressed in a state space form in order to allow state estimation and then SOC and thermal effects prediction. A simple state observer and a Robust Non Linear state estimator for SOC estimation are presented and compared. Then a nonlinear observer design for core and su...
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In this paper the Control of an UAV is designed by an Image Based Visual Servoing (IBVS). The trajectories are generated by the IBVS to track a target. The dynamic model describing the Quadrotor behaviour is established taking into... more
In this paper the Control of an UAV is designed by an Image Based Visual Servoing (IBVS). The trajectories are generated by the IBVS to track a target. The dynamic model describing the Quadrotor behaviour is established taking into account all internal and external aerodynamic forces and moments, for simulation. Furthermore, actua-tors and sensors dynamics are also considered. To overcome all the nonlinearities, as well as the strong coupling in 3D position and Euler angles of Quadrotor system, a robust Sliding Mode Control (SMC) is designed. Unlike several literature works in this topic, the SMC control uses only an approximated model of the Quadrotor. In other words, SMC does not use the dynamic inversion of Quadrotor model. The Quadrotor is endowed a virtual camera to perform visual tracking, in order to evaluate the robustness of our controller.
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In most papers studies about MOSFETs aging are treated from a materiel point of view, in this paper we consider the electrical aspects that contribute to such degradation. Two important degradation mechanisms are proposed related to the... more
In most papers studies about MOSFETs aging are treated from a materiel point of view, in this paper we consider the electrical aspects that contribute to such degradation. Two important degradation mechanisms are proposed related to the transistor bias and the increase of its temperature. This study consists to push the studied transistor to operate in an aging mode by imposing particular bias conditions and excessive junction temperature. Based on some electrical quantities, such as drain leakage current and on the junction temperature, the behavior of the transistor is deduced when operating in aging mode. The simulation results obtained show that during these particular operations, the junction temperature increases, which may destroy the transistor.
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In this paper, the effect of environment parameters on the Lithium ion (Li-ion) battery behaviour is studied. In fact, the experimental database collected from a Lithium-ion battery is used to study its dynamic behaviour and then propose... more
In this paper, the effect of environment parameters on the Lithium ion (Li-ion) battery behaviour is studied. In fact, the experimental database collected from a Lithium-ion battery is used to study its dynamic behaviour and then propose a dynamic battery model who can describe the relationship between the Open Circuit Voltage (OCV), the State Of Charge (SOC) and the ambient temperature (T a). The proposed Shepherd model of a Li-ion open circuit battery voltage OCV is adjusted by using the experimental database of the CALCE battery group CALCE and then this model is implemented and simulated by using MATLAB/Simulink tools.
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Mechatronic systems' behavior is determined by interdependencies between different components. Therefore, an integrated and interdisciplinary engineering approach is necessary. Communication across the traditional boundaries between... more
Mechatronic systems' behavior is determined by interdependencies between different components. Therefore, an integrated and interdisciplinary engineering approach is necessary. Communication across the traditional boundaries between mechanical, electro technical and computational engineering has to take place at an early design process stage. For this reason, engineers need modeling and simulation tools which allow a systems analysis with respect to capabilities, capacities and behavior without really constructing the system. This paper shows that mechatonic systems can be advantageously modelled and simulated using the Bond Graph approach. This technique uses a multienergetic approach that allows the modeling of interdisciplinary models, the generation of the differential equations and the derivation of transfer functions. It is shown that the use of the bond graph approach may be an alternative and a suitable tool for designing and understanding the physical phenomena in mecha...
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In this paper we present our recent work on generalized discrete event modelling. In the general framework of modelling and simulation of linear systems under time-continuous – or not – signals, the description of the integrator operator... more
In this paper we present our recent work on generalized discrete event modelling. In the general framework of modelling and simulation of linear systems under time-continuous – or not – signals, the description of the integrator operator becomes fundamental as well as the description the time delay operator and the concept of output feedback. Therefore, this paper shall present the description of an integrator under piecewise linear input trajectories in a first step, then under trajectories described by a sequence of general order polynomials, ensuring a user given accuracy. Moreover, its remarkable behaviour in case of input discontinuities strongly contrast with the rather bad one of classical numerical solvers. Furthermore, a thorough comparison with discrete-time simulation techniques, like the classical Euler one, allows the assessment of an important computational gain using the techniques proposed here. Finally, the complete treatment of an hybrid system example not only ill...
Research Interests: Cognitive Science, Modelling and simulation, Time Delay, Piecewise Linear, Mixed Mode, and 11 moreDistributed Simulation, Linear System, Output feedback, Discrete Time Control System, Discrete Event, Continuous System, Discrete Systems, Hybrid System, Integral Operator, Simulation Technique, and Discrete time
Different electric wind power conversion systems structures can be used based on the converters topologies. The main objective in all the structures is always the same: the wind energy at varying wind velocities has to be converted to... more
Different electric wind power conversion systems structures can be used based on the converters topologies. The main objective in all the structures is always the same: the wind energy at varying wind velocities has to be converted to electric power with the highest performances. In this paper, a double fed induction generator is used with different control strategies: a direct control without taking into account the coupling between the present currents and an indirect control based on state space approach. A comparison in term of robustness and stability between the two methods is presented through simulation results.
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In this paper, a longitudinal and lateral control approach based on a nonlinear observer is proposed for a convoy of autonomous vehicles to follow a desired trajectory. To authors best knowledge, this topic has not yet been sufficiently... more
In this paper, a longitudinal and lateral control approach based on a nonlinear observer is proposed for a convoy of autonomous vehicles to follow a desired trajectory. To authors best knowledge, this topic has not yet been sufficiently addressed in the literature. The modeling of the vehicles convoy is revisited using robotic method, for simulation purposes and control design. With these models, a sliding mode observer is proposed to estimate the states of each vehicle in the convoy from the available sensors, then a sliding mode control based on this observer is used to control the longitudinal and lateral movement. The validation and performance evaluation are done using the well-known driving simulator Scanner-Studio. The results are presented for different maneuvers of 5 vehicles.
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This paper proposes an electro thermal model for power silicon carbide (SiC) MOSFET based on the EKV MOSFET structure. The thermal dissipation is modeled as an RC Network. The model is developed for the SiC MOSFET C2M0025120D CREE (1200... more
This paper proposes an electro thermal model for power silicon carbide (SiC) MOSFET based on the EKV MOSFET structure. The thermal dissipation is modeled as an RC Network. The model is developed for the SiC MOSFET C2M0025120D CREE (1200 V, 90 A) and integrated in the Psim, Saber and Pspice simulation software libraries for prototyping. The simulation curves are compared with the manufacturers’ data-sheet.
This paper proposes a dynamic behavioral model for temperature variations of systems on chips (SoC) in embedded systems. We use identification techniques (ARMAX modeling) to construct a data-driven online temperature model that estimates... more
This paper proposes a dynamic behavioral model for temperature variations of systems on chips (SoC) in embedded systems. We use identification techniques (ARMAX modeling) to construct a data-driven online temperature model that estimates the temperature according to the CPU and GPU frequencies, the used RAM and the power consumed by the chip. Furthermore, we used two the Recursive Least Squares (RLS) to estimate the parameters of the ARMAX model. This method allows us to update the parameters of the model online in case of a change in the system or its characteristics. Finally, we validate the temperature model and compare between booth estimation methods.
In high-power applications to meet high-efficiency and green standards. Some power-supply designers have found it easier to use a D/DC, full-bridge converter. This is because this kind of converter can obtain zero-voltage switching on the... more
In high-power applications to meet high-efficiency and green standards. Some power-supply designers have found it easier to use a D/DC, full-bridge converter. This is because this kind of converter can obtain zero-voltage switching on the primary side of the converter reducing switching losses, and EMI and increasing overall efficiency.
In this paper, a longitudinal and lateral control approach is proposed for a convoy of multi vehicles. A global decentralized architecture based on the information from neighbors and the leader vehicle is used, to ensure stability and... more
In this paper, a longitudinal and lateral control approach is proposed for a convoy of multi vehicles. A global decentralized architecture based on the information from neighbors and the leader vehicle is used, to ensure stability and safety between neighbors. Lateral control based on the longitudinal speed of the i-th vehicle and the characteristic of the reference trajectory of the leader to cancel the lateral deviation of the convoy from this trajectory and also allows coupled longitudinal and lateral motion control. The robustness of the linearization control by inverse dynamics (for longitudinal movement) and the sliding mode control (for lateral movement), concerning the parameters of the dynamic model, will be studied in this paper. To compare different control approaches for the convoy, we add sensor errors between vehicles, to study the accumulation of the errors towards the other cars of the convoy. To validate these approaches, we use the platform of SCANeRTM-Studio to co...
In this paper, a nonlinear predictive control of a platoon of several vehicles is proposed by using non-linear robotic form model of the vehicles. The model used represents the longitudinal, lateral and yaw movement for each vehicle in... more
In this paper, a nonlinear predictive control of a platoon of several vehicles is proposed by using non-linear robotic form model of the vehicles. The model used represents the longitudinal, lateral and yaw movement for each vehicle in the fleet. This control approach allows controlling the fleet, uses the available information, ensures a safe distance between vehicles to avoid collisions and follows the path of the leader. The robustness of the control will be studied in order to assess the different errors occurring in the estimated parameters values.
In this paper, fault detection problem for uncertain discrete-time switching systems with delay is studied. Sufficient conditions of building an observer are obtained by using multiple Lyapunov function. These conditions are worked out in... more
In this paper, fault detection problem for uncertain discrete-time switching systems with delay is studied. Sufficient conditions of building an observer are obtained by using multiple Lyapunov function. These conditions are worked out in a new way to obtain new LMIs with slack variables and multiple weighted residual matrices. The obtained results are applied on a numerical example with all the entries of the same sizes.
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The (P-V) photovoltaic panel's characteristic is nonlinear and highly depended on solar irradiation and temperature cell variations. For that reason, a Maximum Power Point Tracking (MPPT) algorithm is essential so that it is possible... more
The (P-V) photovoltaic panel's characteristic is nonlinear and highly depended on solar irradiation and temperature cell variations. For that reason, a Maximum Power Point Tracking (MPPT) algorithm is essential so that it is possible to draw peak power from the photovoltaic panel to obtain the maximized produced energy. The main purpose of MPPT technique is to make sure that the solar panel is producing the maximum power. This extracts the maximum amount of power at any given time. To figure out which MPPT technique has the best performances, this paper introduces six different MPPT algorithms existing in literature. In particular, these techniques are tested while the temperature cell was randomly varied. The simulation results are evaluated using Matlab-Simulink.
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This paper deals with the modelling of a CPU-GPU chip embedded in an Android phone. The model is used for the estimation of variables that characterise the operating state of System on Chip (SoC). The proposed model is built to... more
This paper deals with the modelling of a CPU-GPU chip embedded in an Android phone. The model is used for the estimation of variables that characterise the operating state of System on Chip (SoC). The proposed model is built to demonstrate the causal relationships between the variables, through its interconnected structure of subsystems. This structure allows the extension of other components or the easy exchange of subsystems in the case of a change in components or operating mode. The model developed here requires no additional instrumentation—other than the one present on the phone—which facilitates its implementation. It is used for the estimation of the state of the system and can also be used for monitoring and behaviour prediction. The model is validated and the results are promising for further implementation.
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In this chapter, we present and demonstrate the advantages of the Generalized Discrete EVent system Specification (GDEVS) to build accurate discrete-event models of dynamic systems. These theoretical concepts are applied to the field of... more
In this chapter, we present and demonstrate the advantages of the Generalized Discrete EVent system Specification (GDEVS) to build accurate discrete-event models of dynamic systems. These theoretical concepts are applied to the field of logic gate design and analysis in order to get more accurate and fast simulations. States are represented with linear piecewise trajectories contrary to the classical Boolean logic models where states have constant piecewise trajectories (0 and 1). With GDEVS models, the transition from a low level to a high one and vice versa is a linear trajectory and is more realistic than the instantaneous transitions of classical logic gate models. We also demonstrate that this accurate representation does not require any more computations than in Discrete EVent system Specification (DEVS).
The authors advocate the use of discrete event modelling and event driven simulation for systems by reducing the number of simulation steps and therefore providing the opportunity to study hybrid systems using only a discrete event paradigm
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A robust synergetic controller using different observers is developed to drive an anaerobic digestion biogas plant. The latter, a highly nonlinear process requires prohibitive cost sensors. Furthermore, some variables are downright... more
A robust synergetic controller using different observers is developed to drive an anaerobic digestion biogas plant. The latter, a highly nonlinear process requires prohibitive cost sensors. Furthermore, some variables are downright immeasurable rendering control an intricate challenge. Only biogas flow which can be effectively measured, due to an easily integrated low cost sensor, will be considered available and used in this work. The proposed synergetic controller depends on immeasurable system states, thus observers will be used for state estimation. Substrate and biomass concentrations required in the synergetic control law will be obtained via three virtual sensors developed for a one stage fermentation process model. The model, used in this paper, consider the mechanization phase responsible for the biogas production because the objective is to improve the amount of methane produced. A simulation study of the biogas plant control with the proposed technique is compared to a cl...