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101 results on '"Benjelloun, Khalid"'

3. A Study on the Dynamic Behavior of a Slurry Mixing and Pumping Process: An Industrial Case

Author

Oulhiq, Ridouane, Benjelloun, Khalid, Kali, Yassine, Saad, Maarouf, Deshayes, Laurent, 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, Obaidat, Mohammad S., editor, Ören, Tuncer, editor, and Szczerbicka, Helena, editor

Published
2021
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27. Classification of non stationary signals using Ben wavelet and artificial neural networks

Author

Benbrahim, Mohammed, Benjelloun, Khalid, Ibenbrahim, Aomar, and Daoudi, Adil

Subjects
Neural networks -- Research, Seismometers -- Analysis, Neural network, Computers and office automation industries, High technology industry
Abstract

Abstract--The automatic classification of non stationary signals is an important practical goal in several domains. An essential classification task is to allocate the incoming signal to a group associated with [...]

Published
2005

35. Robust stochastic stabilization of discrete-time linear systems with Markovian jumping parameters

Author

Boukas, El Kebir, Shi, Peng, and Benjelloun, Khalid

Subjects
Structural stability -- Models, Discrete-time systems -- Models, Linear systems -- Models, Markov processes -- Usage, Control systems -- Models, Control theory -- Models, Engineering and manufacturing industries, Science and technology
Abstract

In this paper, we study the problem of robust stabilization of discrete-time linear systems with Markovian jumping parameters (DTLSMJP) with norm bounded uncertainties. A sufficient condition guaranteeing the robust stability of the uncertain discrete-time linear systems with Markovian jumping parameters (UDTLSMJP) is presented, which is in terms of a set of coupled discrete-time algebraic Riccati inequalities (IEqs). Finally, a numerical example is given to show the potential of the proposed technique.

Published
1999

36. A data mining based approach for process identification using historical data.

Author

Oulhiq, Ridouane, Benjelloun, Khalid, Kali, Yassine, and Saad, Maarouf

Subjects
*DATA mining, *DATA modeling, *GAUSSIAN mixture models, *GRANGER causality test, *AUTOREGRESSIVE models
Abstract

In this paper, a data mining based methodology for process identification from historical data was proposed. Thereon, it considers the phases of process understanding, data collection, data preparation, data modeling, and model evaluation. As some parts of historical data are irrelevant, a data selection step, based on the Gaussian Mixture Model (GMM) clustering algorithm, was considered. Additionally, the methodology includes a data informativity step to study the richness of data. In this regard, the condition number (CN) and the extended CN for ridge regression (RR CN) were used. To evaluate the approach, 2 years of industrial thickener historical data were used. Thereafter, data were prepared and an ARX (Auto-Regressive with eXogenous inputs) model structure was adopted to identify the model. To estimate input delays, Granger causality was used. As for fit criteria, least square regression was tested and compared to ridge regression as a less sensitive method to multicollinearity. The results were then evaluated based on the 20-step ahead prediction and compared to existing methods. In this context, the proposed approach gave the best results with an R2 of 98.11% and 62.70% for 1 and 20-step ahead predictions, respectively. [ABSTRACT FROM AUTHOR]

Published
2022
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38. Current control of a six-phase induction machine drive based on discrete-time sliding mode with time delay estimation

Author

Universidad Nacional de Asunción - Facultad de Ingeniería, Kali, Yassine, Ayala Silva, Magno Elías, Rodas Benítez, Jorge Esteban, Saad, Maarouf, Doval-Gandoy, Jesus, Gregor Recalde, Raúl Igmar, Benjelloun, Khalid, Universidad Nacional de Asunción - Facultad de Ingeniería, Kali, Yassine, Ayala Silva, Magno Elías, Rodas Benítez, Jorge Esteban, Saad, Maarouf, Doval-Gandoy, Jesus, Gregor Recalde, Raúl Igmar, and Benjelloun, Khalid

Abstract

This paper proposes a robust nonlinear current controller that deals with the problem of the stator current control of a six-phase induction motor drive. The current control is performed by using a state-space representation of the system, explicitly considering the unmeasurable states, uncertainties and external disturbances.

Published
2019

39. Current control of a six-phase induction machine drive based on discrete-time sliding mode with time delay estimation

Author

Kali, Yassine, Ayala, Magno, Rodas, Jorge, Saad, Maarouf, Doval-Gandoy, Jesus, Gregor, Raul, Benjelloun, Khalid, Kali, Yassine, Ayala, Magno, Rodas, Jorge, Saad, Maarouf, Doval-Gandoy, Jesus, Gregor, Raul, and Benjelloun, Khalid

Abstract

This paper proposes a robust nonlinear current controller that deals with the problem of the stator current control of a six-phase induction motor drive. The current control is performed by using a state-space representation of the system, explicitly considering the unmeasurable states, uncertainties and external disturbances. To estimate these latter effectively, a time delay estimation technique is used. The proposed control architecture consists of inner and outer loops. The inner current control loop is based on a robust discrete-time sliding mode controller combined with a time delay estimation method. As said before, the objective of the time delay estimation is to reconstruct the unmeasurable states and uncertainties, while the sliding mode aims is to suppress the estimation error, to ensure robustness and finite-time convergence of the stator currents to their desired references. The outer loop is based on a proportional-integral controller to control the speed. The stability of the current closed-loop system is proven by establishing sufficient conditions on the switching gains. Experimental work has been conducted to verify the performance and the effectiveness of the proposed robust control scheme for a six-phase induction motor drive. The results obtained have shown that the proposed method allows good performances in terms of current tracking, in their corresponding planes.

Published
2019

44. Robust finite-time position and attitude tracking of a quadrotor UAV using super-twisting control algorithm with linear correction terms

Author

Universidad Nacional de Asunción - Facultad de Ingeniería, Kali, Yassine, Rodas Benítez, Jorge Esteban, Saad, Maarouf, Gregor Recalde, Raúl Igmar, Alqaisi, Walid, Benjelloun, Khalid, Universidad Nacional de Asunción - Facultad de Ingeniería, Kali, Yassine, Rodas Benítez, Jorge Esteban, Saad, Maarouf, Gregor Recalde, Raúl Igmar, Alqaisi, Walid, and Benjelloun, Khalid

Abstract

This work investigates the problem of finite-time position and attitude trajectory of quadrotor unmanned aerial vehicle systems based on a modified second order sliding mode algorithm. The selected algorithm is a modified super-twisting with both nonlinear and linear correction terms.

Published
2018

45. Finite-time altitude and attitude tracking of a tri-rotor UAV using modified super-twisting second order sliding mode

Author

Universidad Nacional de Asunción - Facultad de Ingeniería, Kali, Yassine, Rodas Benítez, Jorge Esteban, Saad, Maarouf, Benjelloun, Khalid, Ayala Silva, Magno Elías, Gregor Recalde, Raúl Igmar, Universidad Nacional de Asunción - Facultad de Ingeniería, Kali, Yassine, Rodas Benítez, Jorge Esteban, Saad, Maarouf, Benjelloun, Khalid, Ayala Silva, Magno Elías, and Gregor Recalde, Raúl Igmar

Abstract

This paper presents the problem of robust altitude and attitude trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV) based on a finite-time second order sliding mode control algorithm. The chosen algorithm is a modified super-twisting control with double closed-loop feedback regulation that provides fast finite-time convergence even when the system trajectories are far from the sliding surface, robustness against a wide class of uncertainties and disturbances.

Published
2018

46. Attitude tracking of a tri-rotor uav based on robust sliding mode with time delay estimation

Author

Universidad Nacional de Asunción - Facultad de Ingeniería, Kali, Yassine, Rodas Benítez, Jorge Esteban, Gregor Recalde, Raúl Igmar, Saad, Maarouf, Benjelloun, Khalid, Universidad Nacional de Asunción - Facultad de Ingeniería, Kali, Yassine, Rodas Benítez, Jorge Esteban, Gregor Recalde, Raúl Igmar, Saad, Maarouf, and Benjelloun, Khalid

Abstract

The paper presents a robust sliding mode with time delay estimation method for controlling the attitude of a tri-rotor unmanned aerial vehicle (UAV) in presence of uncertainties and disturbances. The proposed control algorithm allows high accuracy tracking since a good disturbance estimation is provided using time delay estimation method and allows chattering reduction. The stability analysis of the closedloop system is presented using the theory of Lyapunov. Finally, two numerical simulations are presented in the presence of disturbances to show the effectiveness of the proposed nonlinear control scheme.

Published
2018

47. Tracking Trajectory of a Cable-Driven Robot for Lower Limb Rehabilitation

Author

Hachmia Faqihi, Maarouf Saad, Benjelloun, Khalid, Benbrahim, Mohammed, and M. Nabil Kabbaj

Subjects
Cable-driven multibody system, tracking trajectory, lower limb rehabilitation, computed-torque controller
Abstract

This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired trajectory is generated to be used in the control system design in joint space. The obtained simulation results is showed to be efficient in this kind of application., {"references":["A. Alamdari and V. Krovi, \"Robotic physical exercise and system\n(ropes): a cable-driven robotic rehabilitation system for lower-extremity\nmotor therapy,\" in International Design Engineering Technical\nConferences and Computers and Information in Engineering Conference\nIDETC/CIE 2015, vol. 5A, Boston, Massachusetts, USA, August 2-5\n2015.","A. Pennycott, D. Wyss, H. Vallery, V. Klamroth-Marganska, and\nR. Riener, \"Towards more effective robotic gait training for\nstroke rehabilitation: a review,\" Journal of NeuroEngineering and\nRehabilitation, vol. 9, no. 1, 2012.","R. Gopura, D. Bandara, K. Kiguchi, and G. Mannc, \"Developments in\nhardware systems of active upper-limb exoskeleton robots: A review\nr.a.r.c,\" Robotics and Autonomous Systems, vol. 75, p. 203220, 2016.","M. M. D. Azuwan and S.-I. Yamamoto, \"Recent trends in lower-limb\nrobotic rehabilitation orthosis:control scheme and strategy for pneumatic\nmuscle actuated gait trainers,\" Robotics, vol. 3, no. 2, p. 120148, 2014.","L. Cai, A. Fong, C. Otoshi, Y. Liang, J. Cham, V. Zhong, R. Roy,\nV. Edgerton, and J.W.Burdick, \"Effects of consistency variability in\nroboticallycontrolled training of stepping in adult spinal mice,\" in 9th\nInternational Conference on Rehabilitation Robotics, 2005, pp. 575 –\n579.","D. Zanotto, P. Stegall, and S. Agrawal, \"Alex iii: A novel roboticplatform\nwith 12 dofs for human gait training,\" in International Conference on\nRobotics and Automation, 2013, pp. 3914 – 3919.","J. Xin, Xiang, and S. K. Agrawal, \"Design of a cable-driven active leg\nexoskeleton (c-alex) and gait training experiments with human subjects,\"\nin 2015 IEEE International Conference on Robotics and Automation\n(ICRA) Washington State Convention Center Seattle, Washington. IEEE,\n2015.","J. Meuleman, H. F. E. V. Asseldonk, and H. V. D. Kooij, \"Novel\nactuation design of a gait trainer with shadow leg approach,\" in\nInternational Conference on Rehabilitation Robotics, 2013, pp. 1–8.","J. Bryson and S. K. Agrawal, \"Methodology to identify and analyze\noptimal cable configurations in the design of cable-driven serial\nmanipulators,\" in ASME 2013 International Design Engineering\nTechnical Conferences and Computers and Information in Engineering\nConference, 2013.\n[10] J. Merlet, \"Kinematics of the wire-driven parallel robot marionet\nusing linear actuators.\" IEEE International Conference on Robotics and\nAutomation, 2008.\n[11] S. Rezazadeh and S. Behzadipour, \"Workspace analysis of multibody\ncable-driven mechanisms,\" in Journal of Mechanisms and Robotics.\nASME, 2011.\n[12] C. Gosselin and M. Grenier, \"On the determination of the force\ndistribution in overconstrained cable-driven parallel mechanisms,\" in\nMeccanica, vol. 46, 2011, pp. 3–15.\n[13] D. Winter, Biomechanicsandmotorcontrolofhumanmovement, J. W. Sons,\nEd., 2009.\n[14] J. J. Craig, Introduction to Robotics Mechanics and control,third edition,\nPearson Prentice Hall. Pearson Education International, 2005.\n[15] F. Lewis, C. Abdallah, and D.Dawson, Robot Manipulator Control:\ntheory and practice. Marcel Dekker, 2004.\n[16] B. Siciliano and L. Villani, Robot force control. Kluwer Academic,\n1999.\n[17] H. Wang, X. Shi, H. Liu, L. Li, Z. Hou, and H. Yu, \"Design, kinematics,\nsimulation, and experiment for a lower-limb rehabilitation robot,\" in\nProceedings of the Institution of Mechanical Engineers, Part I: Journal\nof Systems and Control Engineering., 2011."]}

Published
2016
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