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Your search keyword '"Diany, Mohammed"' showing total 17 results
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17 results on '"Diany, Mohammed"'

1. Robust Adaptive Fuzzy Path Tracking Control of Differential Wheeled Mobile Robot

Author

Moudoud, Brahim, Aissaoui, Hicham, Diany, Mohammed, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Masrour, Tawfik, editor, Cherrafi, Anass, editor, and El Hassani, Ibtissam, editor

Published
2021
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7. A novel optimiser of MPPT by using PSO-AG and PID controller

Author

Aissaoui Hicham, Zahira El Hariz, and Diany Mohammed

Subjects
Maximum power principle, Renewable Energy, Sustainability and the Environment, business.industry, Computer science, 020209 energy, PID controller, ComputerApplications_COMPUTERSINOTHERSYSTEMS, 02 engineering and technology, Building and Construction, Solar energy, Maximum power point tracking, 020401 chemical engineering, Control theory, Mppt algorithm, Genetic algorithm, 0202 electrical engineering, electronic engineering, information engineering, ComputerSystemsOrganization_SPECIAL-PURPOSEANDAPPLICATION-BASEDSYSTEMS, Point (geometry), 0204 chemical engineering, business
Abstract

This article presents a new methodology based on the application of the proportional–integral–derivative controller (PID) for the monitoring of the maximum power point of a solar system. The method...

Published
2021

8. Adaptive integral‐type terminal sliding mode control: Application to trajectory tracking for mobile robot.

Author

Moudoud, Brahim, Aissaoui, Hicham, and Diany, Mohammed

Subjects
MOBILE robots, SLIDING mode control, LYAPUNOV stability, STABILITY theory, ADAPTIVE control systems
Abstract

Summary: This paper presents an Adaptive Terminal Integral Sliding Mode Control (ATISMC) scheme for trajectory tracking problems applied to a differential Wheeled Mobile Robot (WMR). First, a terminal integral sliding variable is designed. Based on the finite‐time concept, an adaptive control law has been developed in which a switching gain is adjusted adaptively by using a novel strategy. This control method aims to deal with unknown bounded disturbances and uncertainties. Moreover, it allows fast convergence of the system states to an equilibrium point. The main features of the proposed ATISMC are its robustness, fast convergence rate, and chattering avoidance. To realize trajectory tracking for WMR, the ATISMC is incorporated into a double closed loop scheme. Stability analysis is performed using the Lyapunov stability theory. Numerical simulations and real‐time experiments demonstrate the feasibility of the proposed controller scheme. A comparison study with the classical ISMC was performed to show the superiority of the developed method. [ABSTRACT FROM AUTHOR]

Published
2023
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15. Fuzzy adaptive sliding mode controller for electrically driven wheeled mobile robot for trajectory tracking task.

Author

Moudoud, Brahim, Aissaoui, Hicham, and Diany, Mohammed

Subjects
SLIDING mode control, NONLINEAR dynamical systems, MOBILE robots, ROBUST control, ROBOTIC trajectory control
Abstract

This paper presents a fuzzy adaptive sliding mode controller (FASMC) for electrically driven wheeled mobile robot for trajectory tracking task in the presence of uncertainties and disturbances. First, a finite-time kinematic controller is developed to compute the auxiliary velocity vector. Second, the FASMC, based on the nonlinear dynamic model of the robot and its actuators, is used to guarantee the stability and the convergence of the closed-loop system. Moreover, by employing the advantages of the fuzzy logic systems, the developed controller ensures the robustness of the system against dynamic disturbances and uncertainties, the smoothness of the computing voltage against the chattering phenomenon, and the optimal convergence of the velocity and posture errors. The Lyapunov theory is used to analyse the stability of this algorithm. In order to evaluate the effectiveness of the developed method, numerical simulations are done in the Mahlab/Simulink environment. [ABSTRACT FROM AUTHOR]

Published
2022
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