IETE Technical Review

A Review Note for Position Control of an Autonomous Underwater Vehicle

Ahmed Rhif Department of Electronics, High Institute of Applied Sciences and Technologies, Sousse, Tunisia (Institut Suprieur des Sciences Appliques et de Technologie de Sousse)

Abstract A new autonomous underwater vehicle (AUV) called H160 is described in this article. The first prototype of this AUV has been realized through collaboration between two partners, which are the Laboratory of Data processing, Robotics and Micro electronic of Montpellier (LIRMM) and the ECAHYTEC (specialist in the design and manufacture of remote controlled systems in hostile environments). This paper shows a general presentation of the vehicle, its hardware and software architecture including the process modeling and the control law used. Simulation results presented are based on the AUV mathematical model. Keywords Autonomous underwater vehicle, Position control, Sliding mode control, Underwater vehicle.

Link : http://tr.ietejournals.org/article.asp?issn=02564602;year=2011;volume=28;issue=6;spage=486;epage=492;aulast=Rhif

http://tr.ietejournals.org/temp/IETETechRev286486-6275413_014435.pdf

IETE Technical Review

A Position Control Review for a Photovoltaic System: Dual Axis Sun Tracker
Ahmed Rhif Department of Electronics, High Institute of Applied Sciences and Technologies, Sousse, Tunisia (Institut Suprieur des Sciences Appliques et de Technologie de Sousse)

Abstract The Sun Tracker is an automated solar panel that actually follows the sun position to increase the power roduction. After some measurements, the Sun Tracker increases the power production by more than 40% by keeping the panels parallel to the sun that makes the sun rays fall perpendicularly on the solar panel. In this paper, we present a sun tracker without using sun sensors. The sun tracking is performed by changing the solar panel orientation in horizontal and vertical directions by two motors. The control of these motors is ensured by a microcontroller. The proposed system has the capability to track using the location data of the sun. Keywords Altitude, Azimuth, DC motors, Photovoltaic panel, Solar energy, Sun tracker.

Link : http://tr.ietejournals.org/article.asp?issn=02564602;year=2011;volume=28;issue=6;spage=479;epage=485;aulast=Rhif

http://tr.ietejournals.org/temp/IETETechRev286479-8607929_022327.pdf

International Journal of Instrumentation and Control Systems (IJICS)

Stabilizing Sliding Mode Control Design and Application for a DC Motor: Speed Control
Ahmed Rhif Department of Electronic, High Institute of Applied Sciences and Technologies, Sousse, Tunisia (Institut Suprieur des Sciences Appliques et de Technologie de Sousse, Tunisie) E-mail: ahmed.rhif@gmail.com

Abstract The regulation by sliding mode control (SMC) is recognized for its qualities of robustness and dynamic response. This article will briefly talk about the regulation principles by sliding mode as well as the application of this approach to the adjustment of a speed control DC motor bench using the TY36A/EV unit. This unit, from Electronica Veneta products, uses a PID controller to control the speed and position of the DC motor. Our purpose is to improve the set time answer and the robustness of the system when disturbances take place. The experimental results show very good performances of the proposed approach relatively to the PID. Keywords Sliding mode control, Lyapunov stability, PID controller, DC motor.

Link: http://airccse.org/journal/IJICS/Paper/0112ijics04.pdf

International Journal of Information Technology, Control and Automation (IJITCA)

A High Order Sliding Mode Control with PID Sliding Surface: Simulation on a Torpedo
Ahmed Rhif Department of Electronics Engineering, High Institute of Applied Sciences and Technologies, Sousse, Tunisia (Institut Suprieur des Sciences Appliques et de Technologie de Sousse) E-mail: ahmed.rhif@gmail.com

ABSTRACT Position and speed control of the torpedo present a real problem for the actuators because of the high level of the system non linearity and because of the external disturbances. The non linear systems control is based on several different approaches, among it the sliding mode control. The sliding mode control has proved its effectiveness through the different studies. The advantage that makes such an important approach is its robustness versus the disturbances and the model uncertainties. However, this approach implies a disadvantage which is the chattering phenomenon caused by the discontinuous part of this control and which can have a harmful effect on the actuators. This paper deals with the basic concepts, mathematics, and design aspects of a control for nonlinear systems that make the chattering effect lower. As solution to this problem we will adopt as a starting point the high order sliding mode approaches then the PID sliding surface. Simulation results show that this control strategy can attain excellent control performance with no chattering problem. KEYWORDS Sliding mode control, PID controller, chattering phenomenon, nonlinear system.

Link: http://airccse.org/journal/ijitca/papers/2112ijitca01.pdf

Journal of Control & Instrumentation

A Sliding Mode Control with a PID Sliding Surface for Power Output Maximizing of a Wind Turbine
Ahmed Rhif Department of Electronics Engineering, High Institute of Applied Sciences and Technologies, Sousse, Tunisia (Institut Suprieur des Sciences Appliques et de Technologie de Sousse)

Abstract The wind energy has many advantages, it does not pollute and it is an inexhaustible source. However, the cost of this energy is still too high to compete with traditional fossil fuels, especially on the less windy sites. The performance of a wind turbine depends mainly on three parameters: the power of the wind, the power curve of the turbine and the generators ability to respond to the wind fluctuations. This article proposes a robust control of a double-fed induction generator of wind turbine to optimize its production that means the energy quality and efficiency. The proposed control reposes in the sliding mode approach using a PID sliding surface, which contributes to the minimization of the static error and the number of the derivative functions. Simulation results show good performances of this control. Keywords: Sliding mode control, chattering phenomenon, PID controller, wind turbine

Link:

http://www.stmjournals.com/index.php?journal=JoCI&page=article&op=view&path%5B%5 D=1569

Journal of Engineering and Technology, in press

A High-Order Sliding Mode Observer: Torpedo Guidance Application

Ahmed Rhif, Zohra Kardous, Naceur BenHadj Braiek Advanced System Laboratory, Polytechnic School of Tunisia (Laboratoire des Systmes Avancs(L.S.A), Ecole Polytechnique de Tunisie, BP 743, 2078 La Marsa, Tunisie)

Abstract The guidance of a torpedo represents a hard task because of the smooth nonlinear aspect of this system and because of the extreme external disturbances. The torpedo guidance reposes on the speed and the position control. In fact, the control approach which is very solicited for the electromechanical systems is the sliding mode control (SMC) which proved its effectiveness through the different studies. The SMC is robust versus disturbances and model uncertainties; however, a sharp discontinuous control is needed which induces the chattering phenomenon. The angular velocity measurement is a hard task because of the high level of disturbances. In this way, the sliding mode observer could be a solution for the velocity estimation instead of a sensor. This article deals with torpedo guidance by SMC to reach the desired path in a short time and with high precision quality. Simulation results show that this control strategy and observer can attain excellent control performances with no chattering problem. Key words: Sliding mode control, chattering phenomenon, sliding mode observer, nonlinear system.

Transactions on Systems, Signals and Devices (TSSD),

in press

First and high order sliding mode-multimodel stabilizing control synthesis by a single and multi sliding surfaces of nonlinear systems Simulation on a Submarine Mobile
Ahmed RHIF, Zohra KARDOUS, Naceur BEN HADJ BRAIEK L.S.A Laboratoire des Systmes Avancs Ecole Polytechnique de Tunisie BP 743, 2078 La Marsa, Tunisia Email: ahmed.rhif@issatso.rnu.tn, zohra.kardous@enit.rnu.tn, naceur.benhadj@ept.rnu.tn

Abstract This paper provides new analytic tools for a rigorous control formulation and stability analysis of sliding mode-multimodel controller (SM-MMC). In this way to minimise the chattering effect we will adopt as a starting point the multimodel approach to change the commutation of the sliding mode control (SMC) into fusion using a first order then a high order sliding mode control with single sliding surface and, then, with several sliding surfaces. For that the stability conditions invoke the existence of two Lyapunov-type functions, the first associated to the passage to the sliding set in finite time, and the second with convergence to the desired state. The approaches presented in this work are simulated on the immersion control of a submarine mobile which presents a problem for the actuators because of the high level of system non linearity and because of the external disturbances. Simulation results show that this control strategy can attain excellent performances with no chattering problem and low control level. Keywords: Sliding mode, Multimodel, fusion, chattering, Lyapunov, stabilization.

8th International Multi-Conference on Systems, Signals & Devices (SSD11)

A high order sliding mode-multimodel control of nonlinear systems simulation on a submarine mobile
Ahmed RHIF, Zohra KARDOUS, Naceur BEN HADJ BRAIEK L.S.A Laboratoire des Systmes Avancs Ecole Polytechnique de Tunisie
BP 743, 2078 La Marsa, Tunisia Email: ahmed.rhif@issatso.rnu.tn, zohra.kardous@enit.rnu.tn, naceur.benhadj@ept.rnu.tn

Abstract Position control of processes that involve the submarine immersion can present a real problem for the actuators because of the high level of non linearity of the system and because of the external disturbances. Such problem is often treated by a sliding mode control; however, this approach implies a disadvantage which is the chattering phenomenon. This paper deals with the basic concepts, mathematics, and design aspects of a control that make the chattering effect lower. As solution to this problem we will adopt the multimodel approach to improve the performances given by a first and high order sliding mode control (SMC) with only one sliding surface and, in another hand, with several sliding surfaces. Experimental results show that this control strategy, called sliding mode multimodel approach (SM-MM), can attain excellent control performances with no chattering problem and low control level. Comparisons with classical controls have also been considered in this paper. Keywords Sliding mode control, Multimodel approach, Fusion, chattering phenomenon. Use the link: http://ieeexplore.ieee.org/Xplore/login.jsp?url=http%3A%2F%2Fieeexplore.ieee.org%2Fiel5 %2F5764310%2F5767360%2F05767377.pdf%3Farnumber%3D5767377&authDecision=203

9th International Multi-Conference on Systems, Signals & Devices (SSD12), in press

Stabilizing Sliding Mode-Multimodel Control for Nonlinear Systems Simulation on an Aircraft: Airbus A340
Ahmed RHIF, Zohra KARDOUS, Naceur BEN HADJ BRAIEK L.S.A Laboratoire des Systmes Avancs Ecole Polytechnique de Tunisie BP 743, 2078 La Marsa, Tunisia Email: ahmed.rhif@issatso.rnu.tn, zohra.kardous@enit.rnu.tn, naceur.benhadj@ept.rnu.tn

Abstract This paper provides new analytic tools for a rigorous stability and robustness analysis of sliding mode multimodel control (SM-MMC). The stability conditions invoke the existence of two Lyapunov type functions, the first associated with passage to the sliding surface in finite time, and the second with convergence to the desired state. In this study we expose sufficient conditions of stabilization in the case of commutation and fusion approaches with few subsystems. Keywords sliding mode control, discontinuous control, multimodel fusion, Lyapunov stability, stabilization.