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The paper present an architecture multi-controller based in conventional PID controller and robust Fractional PID controller (FOPID) using PSO algorithm to optimize the parameters of PID and FOPID, and improved the robustness. This approach applied to control robotics wrist (Robot RX-90 Staübli). A brief overview of the process with a non-linear and linear mathematical modeling of the process. Principle...
The paper presents a new multi-controllers approach with H∝ control applied to control a manipulator robot wrist (Staubli RX-90). A brief description of process and linear mathematical modeling of the process. Principle of multi-controllers approach of control is briefly presented. Our new proposals concerning the type of the controllers used in the multi-controller approach of control and which are...
The issue investigated in this paper concerns navigation, survey / control and the complexity associated with a mobile multi-robot coordination and cooperation in a complex environment (robotic analysis laboratory), which is little or no known with significant industrial risks, in the presence of human and machines. This group of mobile robots is mainly used to move chemical products, which can lead...
This paper presents a multi-controller approach of control with symbolic fuzzy switching system and adaptive fuzzy gain to control our process in the different environment. First we present the model of the process (wrist of a Stäubli robot RX 90) and a local parametric models around equilibrium point. Then, we introduce the principles of multi-controller approach and fuzzy switching system. The originality...
The paper presents a robust multi-controllers design applied to the control of classical, nonlinear, multivariable, unstable inverter pendulum systems. A brief overview of the principle of multi-controllers approach of control and the process with a non-linear and a linear mathematical modeling are presented. Here, we report on a novel type of fractional order controllers (as FOPID) used in a multi-controller...
The paper presents a new multi-controllers approach of control applied to control a manipulator robot wrist (Staubli RX-90). A brief overview of the process with a non-linear and linear mathematical modeling of the process. Principle of multi-controllers approach of control is briefly presented. Our new proposals concerning the type of the controllers used in the multi-controller approach of control...
In this paper the dependability of an automatic detection and extinction system with Halon is presented. The risk control and analysis is done using three analysis methods, SADT (Structured Analysis and Design Technical), FMEA (Failure Mode Effect Analysis) and FTA (Fault Tree Analysis). The objective of our work is dependability planning optimization with the identification of the potential risks...
In this paper, we highlight the issue of control and dependability of a preheating train of heat exchangers for a petrochemical industrial plant -unit 100 Topping of condensate RA2K (Skikda, Refinery Algeria). Our work includes both the risk analysis for the unit and for two centrifugal pumps used for pumping the condensate.
This work offers the macroscopic modeling of traffic road based on the Bond Graph (BG) paradigm for using these models in the traffic road control. We recall to the first time, the various models of the traffic road. Then we describe the Bond Graph with these principles in order to model three various macroscopic traffic flow models with Bond Graph. The originality of our approach lies in the fact...
One problem pertaining to Intensive Care Unit information systems is that, in some cases, a very dense display of data can result. To ensure the overview and readability of the increasing volumes of data, some special features are required (e.g., data prioritization, clustering, and selection mechanisms) with the application of analytical methods (e.g., temporal data abstraction, principal component...
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