Publications

@phdthesis{AchnibAsma2019these,
title = {Développement de la commande CRONE avec effet anticipatif robuste},
author = {Asma ACHNIB},
url = {https://macs.tn/macs/wp-content/uploads/2019/05/Rapport-Thèse-Asma-21-05-2019-001.pdf
https://macs.tn/macs/wp-content/uploads/2019/05/Rapport-Thèse-Asma-21-05-2019-Tunis-202.pdf
https://macs.tn/macs/wp-content/uploads/2019/05/presentation_Asma.png},
year = {2019},
date = {2019-04-25},
address = {ENIG},
school = {ENIG et Université de Bordeaux},
abstract = {Le travail présenté dans cette thèse s’inscrit dans le cadre de l’étude de l’efficacité
de la commande CRONE avec effet anticipatif robuste dans les problèmes de poursuite
et de régulation pour les systèmes monovariables et multivariables. L’objectif de
l’anticipation est de concevoir des algorithmes de commande capables de minimiser un
critère quadratique basé sur l’erreur entre la sortie du système et le signal de référence
avec modération du niveau du signal de commande. La solution proposée repose sur
l’association d’une commande robuste de type feedback `a une commande anticipative
de type feedforward. L’action feedforward utilise un filtre anticipatif synthétisé dans le
domaine fréquentiel en utilisant des critères d’optimalité et de contraintes de type H2
et H∞. La réduction du nombre de paramètres du filtre anticipatif en utilisant une
période d’échantillonnage plus lente a été traitée. Des exemples académiques illustrent
les développements théoriques. Une application pratique sur un système de régulation
hydraulique a montré la pertinence de cette nouvelle approche.
Mots clés : Commande anticipative, systèmes `a temps discret, commande robuste, filtre
anticipatif, H2, H∞.

Abstract

The work presented in this thesis is part of the study of the effectiveness of CRONE
control with anticipative effect in the problems of tracking and control for monovariable
and multivariable systems. The anticipation objective is to design a control algorithm that
minimizes a quadratic error between the reference and the output of the system and at
the same time achieve a good level of the control signal. The proposed solution combines a
robust feedback control with a feedforward control. The feedforward action uses optimality
criteria and an anticipative filter which is designed in the frequency domain using a mix
of H2 et H∞ constraints. The reduction of the number of parameters of the anticipative
filter by using a slower sampling period for the anticipative filter is treated. Academic
examples highlight the theoretical developments. A practical application on a hydraulic
control system has shown the efficiency of the developed approach.
Keywords : preview control, discrete-time systems, robust control, feedforward filter,
H2, H∞.},
note = {Thèse en cotutelle},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{ZinaBougatef2019,
title = {SUPERVISION SUR LES SYSTEMES A RETARD : DIAGNOSTIC ET COMMANDE TOLERANTE AUX ́DEFAUTS},
author = {Zina Bougatef},
url = {https://macs.tn/macs/wp-content/uploads/2019/05/thèse-zina-bougatef-001.pdf
https://macs.tn/macs/wp-content/uploads/2019/05/thèse-zina-bougatef-resume.pdf},
year = {2019},
date = {2019-04-25},
address = {ENIG},
school = {ENIG},
abstract = {This work focuses on model-based fault diagnosis as well as fault-tolerant control of time-delayed Singularly Perturbed Systems (SPS) and Linear Parameter-Varying (LPV) with delay. Stability analysis is performed based on the Lyapunov-Krasovskii theory. Observers are dedicated either to state estimation or to fault detection. Two methods of diagnosis are applied for fault detection and isolation. For LPV systems, the developed approaches have been applied to two examples of real processes ; a truck trailer and a Polymer Electrolyte Membrane Fuel Cell (PEMFC). Then, two types of Fault Tolerant Control (FTC) are used to maintain the stability of delayed SPS even in the presence of faults such as trajectory tracking (PI control) and output-feedback control. Simulation examples illustrate these contributions.
Keywords : Diagnosis ; Fault Tolerant Control ; Delayed SPS ; LPV delayed systems.},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{EthabetThese2019,
title = {Synthèse dóbservateurs intervalles pour les systèmes linéaires à commutations : application au diagnostic},
author = {Haifa Ethabet},
url = {https://macs.tn/macs/wp-content/uploads/2019/02/Thèse-Haifa-ETHABET.pdf
https://macs.tn/macs/wp-content/uploads/2019/02/These_Thabet-Presentation.png},
year = {2019},
date = {2019-02-02},
school = {ENIG},
abstract = {The research work presented in this thesis deals with the diagnosis of switched systems by set-membership approaches. A state of the art for the diagnosis and observation techniques as well as the design methods of interval observers is presented. Thus, the report of this thesis is split into two parts. Firstly, interval observers for switched linear systems are developed. These observers provide a guaranteed set that contains all the admissible values of the state. The disturbances and the measurement noise are supposed to be unknown, but bounded with a priori known bounds. Secondly, approaches of diagnosis are proposed based on interval residual generation using interval observers. These contributions are validated through numerical simulations.
Keywords : Diagnosis, interval observers, switched systems, positivity, stability.},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{Mizouri2019,
title = {Contribution à la conception, la modélisation et la commande d’un quadricoptère},
author = {Walid Mizouri},
url = {https://macs.tn/macs/wp-content/uploads/2019/02/presentation-Walid-Mizouri.png},
year = {2019},
date = {2019-02-02},
address = {ENIG},
school = {ENIG},
abstract = {This work deals with the design, modeling and control of quadrotor UAV. Firstly a definition, applications and a classification of Unmanned Areal Vehicle UAV are given. The motion of the quadrotor UAV is also detailed. Then the developed quadrotor test prototype is described. The dynamic model of the prototype is derived using three different approaches. The first method is based on mathematical developing. The open loop modeling approach is then applied. An other method based on the frequency identification method is proposed. Secondly the control system is designed based on PID controller, IMC control strategy and Fractional PID approach to stabilize the quadrotor system. The PID controller is applied to the real prototype and validated with an experimental flight test.
Keywords
Quadrotor, dynamic modeling, Frequency identification, Fractional PID controller, InternalModel Control IMC.},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{Hamdi2019,
title = {CONTRIBUTIONS A L’IDENTIFICATION DES SYSTÈMES PAR MODÈLE NON ENTIER DANS UN CONTEXTE A ERREURS BORNÉES PAR UNE APPROCHE ORTHOTOPIQUE},
author = {Saif Eddine Hamdi},
url = {https://macs.tn/macs/wp-content/uploads/2019/02/Presentation-saifeddineHamdi.pnghttps://macs.tn/macs/wp-content/uploads/2019/02/Thèse-saifEddineHamdi.png},
year = {2019},
date = {2019-02-02},
address = {ENIG},
school = {ENIG},
abstract = {This work deals with the set-membership identification of fractional order systems in
a bounded error context. The main contributions of this work are based on the orthotopic
approach. In the first part, the main definitions and properties of fractional derivation and
integration operators have been recalled. The classical identification methods of fractional linear
time-invariant systems in a statistical context, as well as its limitations, have been presented. In
the second part, the identification in bounded errors context using the orthotopic approach has
been developed. Several methods and optimizations have been developed such as the orthotopic
filter, the linear programming and the recirculation of the data in several directions. In the third
part, the orthotopic approach for the identification of fractional systems has been developed
and adapted to linear parameter-varying system in a bounded error context. Several numerical
examples have been used to validate proposed methods.
Keywords
Fractional differentiation, LTI system, LPV system, bounded error, identification, orthotopic
methods.},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{Fatma2019,
title = {Etudes sur les méthodes de détection et de commande tolérante aux défauts pour les machines synchrones à aimants permanents},
author = {Fatma Sdiri},
year = {2019},
date = {2019-01-01},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{Houda2019,
title = {Diagnostic du système bâtiment: Nouveaux défis},
author = {NAJEH Houda},
year = {2019},
date = {2019-01-01},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{Tahkoua2019,
title = {Investigation du crime électronique: Application de la fusion de données pour la détection díntrusions},
author = {OMRANI Takwa},
year = {2019},
date = {2019-01-01},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{Radwen2019,
title = {Contribution à la navigation et la perception des robots mobiles},
author = {BAHRI Radwen},
year = {2019},
date = {2019-01-01},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{Halima2019,
title = {Diagnostic et commande tolérantes aux défauts des systèmes dórdre non entier à retard},
author = {ATITALLAH Halima},
year = {2019},
date = {2019-01-01},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{Aymen2019,
title = {Sur la commande tolérante aux défauts de systèmes non linéaire: Application aux systèmes robotisés},
author = {ELGHOUL Aymen},
year = {2019},
date = {2019-01-01},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{Wiem2019,
title = {Modélisation et commande d'une prothèse active},
author = {BENABDALLAH Wiem},
year = {2019},
date = {2019-01-01},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{HOUIJI2018,
title = {Optimisation des performances de diagnostic et de commande tolérante aux défauts des systèmes stochastiques},
author = {HOUIJI Marwa},
url = {https://macs.tn/macs/wp-content/uploads/2019/01/These_MarwaHouijji.pdf
https://macs.tn/macs/wp-content/uploads/2019/01/PPT-Houijji.png},
year = {2018},
date = {2018-12-29},
school = {ENIG},
abstract = {Abstract
The general theme of this thesis concerns the optimization of diagnostic module
performance and therefore fault-tolerant control of stochastic systems.
In the first part, a robust residue generation method based on the RTSK filter for a stochastic
system with a single actuator or sensor fault and the ARThSKF filter for a stochastic system
with simultaneous actuator and sensor faults in the presence of unknown inputs is performed.
In the second part, a new method of residual evaluation using an adaptive threshold based on the
Bayes test and gray theory is developed to ensure optimal performance in terms of detection time,
false alarm rate and non-detection rate . A new isolation method based on double localization
is presented.
Finally, the optimal diagnostic module is used to apply a corrective law based on the additive and
LQG method. The proposed method guaranteed the stability of the system after accommodation
and verifies the speed of performance recovery.
Keywords Fault Detection and Diagnosis, Fault Tolerant Control, Stochastic System,
Performance Optimization, Adaptive Threshold, Delayed Detection, false alarm.},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{SALEM2018,
title = {Contribution à l’identification des systèmes par modèle non entier à paramètres variants},
author = {SALEM Thouraya},
url = {https://macs.tn/macs/wp-content/uploads/2019/01/These_SalemT.pdf
https://macs.tn/macs/wp-content/uploads/2019/01/ppt-Salem.png},
year = {2018},
date = {2018-12-29},
school = {ENIG},
abstract = {Résumé
Les principaux travaux de recherches de cette thèse concernent l’identification des systèmes Linéaires à Paramètres Variants non entiers à temps continu. Dans un premier temps, deux classes de méthodes sont développées : une basée sur les méthodes des moindres carrés, et l’autre basée sur la méthode de variable instrumentale. Ainsi, deux cas peuvent ont été envisagés : le premier cas suppose que tous les ordres de dérivation sont connus à priori et seuls les coefficients de l’équation différentielle non entière du modèle linéaires à paramètres variants sont estimés. Le second cas suppose que tous les ordres de dérivation sont inconnus et estimés au même titre que les coefficients. Dans un deuxième temps, la variable de séquencement est supposée mesurable. Une méthode est développée, dédiée à l’estimation des paramètres ainsi que les ordres de dérivation non entières de ces modèles `a temps continu. Le principe de compensation de biais d’estimation est introduit en se basant sur la méthode de variable instrumentale. Des simulations illustrent les performances des approches proposées.
Mots clés : Dérivation non entière, systèmes LPV, identification, moindres carrés, variable
instrumentale, modèles continus.


Abstract
This research work aims at studying the identification of fractional Linear Parameter varying Systems in continuous-time. At first, two classes of methods are developed : the first one is based on the least squares methods, and the second one is based on the instrumental variable method. Thus, two cases have been considered. Firstly, all the fractional derivation orders are assumed to be a priori known and only the coefficients of the fractional differential equation of the continuous time LPV model are estimated. Secondly, both fractional differential equation coefficients and differentiation order are estimated. Then, the scheduling variable is supposed to be measurable. A method is developed, dedicated to estimate the parameters as well as the fractional derivation orders of the continuous time linear parameter varying model. The bias compensated principle is introduced based on the instrumental variable method. Simulations illustrate the performance of the proposed approaches.
Keywords
Fractional differentiation, LPV system, system identification, least squares, instrumental variable, continuous time.},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{RHOUMA2018,
title = {FILTRAGE DES SYSTEMES STOCHASTIQUES A ENTREES INCONNUES: APPLICATION A LA DETECTION ET L’ESTIMATION DES CYBER-ATTAQUES},
author = {RHOUMA Taouba},
year = {2018},
date = {2018-12-19},
school = {ENIG},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{HAMDI2018,
title = {ANALYSE DYNAMIQUE ET TECHNIQUES DE CONTROLE DES MANIPULATEURS FLEXIBLES},
author = {HAMDI Slim},
year = {2018},
date = {2018-12-19},
school = {ENIG},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}

@phdthesis{MATOUI2018,
title = {CONTRIBUTION A LA PLANIFICATION DE TRAJECTOIRE D’UN SYSTÈME MULTI-ROBOTS DANS UN MILIEU DYNAMIQUE},
author = {Fethi MATOUI},
url = {https://macs.tn/macs/wp-content/uploads/2018/11/these_METOUI-724x1024.jpg
https://macs.tn/macs/wp-content/uploads/2018/11/presentation_Matoui.png},
year = {2018},
date = {2018-12-18},
school = {ENIG},
abstract = {Résumé: Ce sujet de thèse concerne la planification de trajectoires d&39;étude de planification a été effectuée dans un
environnement "sans obstacle" et "avec obstacle", en se basant sur la technique de champ de
potentiel artificiel. Cette technique permet d&39;application et conduit à des trajectoires optimales.
Également, pour les systèmes multi-robots mobiles, l&39;architecture de planification sont proposées: architecture décentralisée,
architecture centralisée et architecture hiérarchisée.
Mots clés: Robotique, Robot mobile, Planification de trajectoire, champ de potentiel artificiel,
système multi-robots, Environnement dynamique.

Abstract : This thesis topic concerns the planning of trajectories of a mobile multi-robot
system in a dynamic environment. The planning study was conducted in a "barrier-free" and
"with obstacle" environment, based on the artificial potential field technique. This technique
makes it possible to obtain attractive and repulsive force profiles adapted to the needs of the
application and leads to optimal trajectories. Also, for multi-robot mobile systems, one of the
main technical considerations is the technique used to coordinate the movements of different
robots. So, three types of planning architecture are proposed: decentralized architecture,
centralized architecture and hierarchical architecture.

Keywords : Robotics, Mobile robot, Path planning, Artificial potential field, Multi-robot
system, Dynamic environment.},
keywords = {Thèse},
pubstate = {published},
tppubtype = {phdthesis}
}