Aziz Naamane
Aix-Marseille Université, Research Unit Telemme UMR 7303, Faculty Member
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International audienceno abstrac
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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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In this paper, fault tolerant control (FTC) problem for discrete-time switching systems with delay and constrained input is studied. Sufficient conditions of building an observer are obtained by using common Lyapunov function. These... more
In this paper, fault tolerant control (FTC) problem for discrete-time switching systems with delay and constrained input is studied. Sufficient conditions of building an observer are obtained by using common Lyapunov function. These conditions are worked out using cone complementarity technique. The obtained results are applied on a numerical example showing fault detection, localization of fault and reconfiguration of the control to maintain asymptotic stability even in presence of a permanent sensor fault and constraints on the control.
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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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We propose a new approach dealing with the com bination of bond-graph with GDEVS formalism for modeling and simulation of complex systems using discrete event techniques. We show how to build discrete event simulation models for bond... more
We propose a new approach dealing with the com bination of bond-graph with GDEVS formalism for modeling and simulation of complex systems using discrete event techniques. We show how to build discrete event simulation models for bond graph elements, with either piecewise linear in put-output trajectories or any kind of polynomial trajectories. One of the main advantages of our method is the reduction in the number of simula tion steps, and therefore the possibility of study ing dynamic hybrid systems using only the dis crete event paradigm.
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National audienceno abstrac
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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 presents an ongoing work for model based diagnosis for a class of Non Linear Complex Switched evolutive Systems in interaction with their environment. A new architecture is proposed as a combined method of a time-based... more
This paper presents an ongoing work for model based diagnosis for a class of Non Linear Complex Switched evolutive Systems in interaction with their environment. A new architecture is proposed as a combined method of a time-based diagnosis mechanism in an event-based control system and a state-based control mechanism. This paper discusses the structure of an event-based controller, the combined modelling methodology, some related problems, and some simulation results.
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... This paper presents an analysis of the equivalent circuits proposed for modeling some batteries ... N. M'Sirdi et al.(Eds.): Sustainability in Energy and Buildings, SIST 12, pp. ... may be neglected in the model because the... more
... This paper presents an analysis of the equivalent circuits proposed for modeling some batteries ... N. M'Sirdi et al.(Eds.): Sustainability in Energy and Buildings, SIST 12, pp. ... may be neglected in the model because the self-discharge characteristic of the lithium battery is extremely ...
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ABSTRACT In this paper experimental results of a wind energy conversion system obtained in real time are presented. The modelling of the different parts of the studied system is described. Simulation results achieved in different... more
ABSTRACT In this paper experimental results of a wind energy conversion system obtained in real time are presented. The modelling of the different parts of the studied system is described. Simulation results achieved in different conditions are compared to those obtained experimentally. The work presented constitutes a part of a bigger project entitled MACsyME (Modelling, Analysis and Control for Systems with Multiple Energy Sources) The main objective is to a implement a real strategy of total management of multi-energy sources.
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ABSTRACT This paper uses sliding mode observers to build up an estimation of some unmeasurable parameters in all-terrain vehicle road interaction. An estimation of the angular velocity and acceleration is presented by using a second... more
ABSTRACT This paper uses sliding mode observers to build up an estimation of some unmeasurable parameters in all-terrain vehicle road interaction. An estimation of the angular velocity and acceleration is presented by using a second sliding mode observer. This estimation strategy is used to reconstruct the road slope. Also a fist sliding mode observer is developed to observe to road bank angle. To validate these approaches a experimentally data is used. The actual results show effectiveness and robustness of the proposed method.
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This paper describes the first stage of an on going project dealing with the multi-source energy management Strategy. In this work, a combined system producing electrical energy from Photovoltaic (PV) energy, wind energy and from a... more
This paper describes the first stage of an on going project dealing with the multi-source energy management Strategy. In this work, a combined system producing electrical energy from Photovoltaic (PV) energy, wind energy and from a battery is studied. The design, analysis, and implementation of the wind energy part are completely carried out using a dSPACE DS1104 digital signal processor (DSP) based on real-time data acquisition control (DAC) system. In this paper the different parts of the wind conversion chain are presented with their control systems, the simulation and experimental results are discussed.
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ABSTRACT This paper addresses the problem of multi-fingered robot hand's modeling which is fundamental in design of model-based controllers. Roughly speaking, there are two different types of robotic behavior: free, purpose of... more
ABSTRACT This paper addresses the problem of multi-fingered robot hand's modeling which is fundamental in design of model-based controllers. Roughly speaking, there are two different types of robotic behavior: free, purpose of this paper, and constrained thaqt would be published in the near future. Based on the proposed design of the multi-fingered robot hand, an efficient dynamic equation has been derived by the Lagrange formulation. Several simulation results proved that the derived dynamic model can predict the motion of the multi-fingered hand in free motion without holding any object. Furthermore the developed dynamic model leads to decoupling dynamic characteristics, by which the control of different parts of the system can be separately simulated. Based on this approach, a model=based computed torque method for tracking control of the multi-fingered hand is illustrated.
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ABSTRACT This paper deals with the parameter estimation and the self-tuning regulation of a solar system, which is composed of a solar cell followed by a boost converter. The considered system is described by an input-output stochastic... more
ABSTRACT This paper deals with the parameter estimation and the self-tuning regulation of a solar system, which is composed of a solar cell followed by a boost converter. The considered system is described by an input-output stochastic mathematical model at discrete-time, with unknown but constant or slowly time-varying parameters. This parameter estimation is conducted based on the method of prediction error and least squares techniques. The posed regulation problem consists in the development of a self-tuning regulator on the basis of the generalized minimum-variance approach. Thus, a generalized minimum-variance self-tuning regulator is developed. A numerical simulation of the self-tuning regulation of the considered stochastic system is treated.
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ABSTRACT In this paper, an observer to estimate the longitudinal tire forces using only wheel angular positions measurement is presented. The robust estimation is based on Second Order Sliding Mode Observer. The estimation performance is... more
ABSTRACT In this paper, an observer to estimate the longitudinal tire forces using only wheel angular positions measurement is presented. The robust estimation is based on Second Order Sliding Mode Observer. The estimation performance is tested and validated using a car driving simulator SCANeR™-Studio. The simulation results show effectiveness and robustness of the proposed method.
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This thesis is integrated within the overall process of the generation of grasping movements with five-fingered hand. We investigate several key components required to perform an acceptable grasp. To solve the grasp planning problem, we... more
This thesis is integrated within the overall process of the generation of grasping movements with five-fingered hand. We investigate several key components required to perform an acceptable grasp. To solve the grasp planning problem, we proposed in the first part of this thesis, an optimization of the degrees of freedom based on the studies of the biomechanics and anthropometry of the human hand in order to model a 3D hand. We defined the Denavit-Hartenberg parameters for the articulated modelled hand and we extracted the forward and inverse kinematics for each of the fingers. This modelled hand is than used in “HandGrasp” to test the proposed approaches. HandGrasp is a 3D simulator, which consists of reusable components that accelerate the development of generated movements and facilitate the evaluation of the grasp planner. A five fingered robotic hand “BioHand” was designed to validate this simulator. This hand has 14 degrees of freedom and is operated by means of a 5DT data-glove. HandGrasp acquire and process the captured joint angles from the data-glove in order to render the motion of the corresponding configuration of the hand and then control in real time “BioHand”. In the second section of this thesis, we will present our grasp planner based on Particle Swarm Optimization PSO technique. We evaluate this approach with two fitness functions and demonstrated the performance of our proposed approach and evaluate the results in HandGrasp with three different objects. Then, we ameliorate the proposed approach (Adaptive Particle Swarm Optimization) with a more guided generation process (GRG) which helps generate more acceptable population of solutions. Furthermore, this adaptive approach improves the population of solution by replacing the inactive particles with new solutions. The APSO is tested in the HandGrasp simulator with four different objects and the experimental results demonstrate that this approach outperforms the compared simple PSO in terms of solution accuracy, convergence speed and algorithm reliability. In the last section of this thesis, we adapted a multi-objective swarm optimization approach (MOPSO) in order to generate a Pareto front with more distributed solutions compared to other four approaches.
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A robust control strategy is proposed and used for a digitally controlled shunt active power filter (SAPF). The SAPF is designed to minimize the real-time computation requirements by resizing the different computational element in low... more
A robust control strategy is proposed and used for a digitally controlled shunt active power filter (SAPF). The SAPF is designed to minimize the real-time computation requirements by resizing the different computational element in low frequency control groups with a balanced or unbalanced load. An unbalanced load tolerant control is tested and evaluated for active power filter structure. We have taken into account the power losses of the insulated gate bipolar transistor (IGBT) model in order to optimize the energy transfer. The instantaneous modified active and reactive power (p-q) method for harmonic detection based on phase locked loop (PLL) control strategy has been used to control the SAPF system. This control strategy has been simulated by using Matlab/Simulink.
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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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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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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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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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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.
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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 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.
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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.
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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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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...