{"id":6954,"date":"2019-07-23T14:14:09","date_gmt":"2019-07-23T14:14:09","guid":{"rendered":"http:\/\/10.1.5.53\/?page_id=6954"},"modified":"2023-11-27T08:52:35","modified_gmt":"2023-11-27T08:52:35","slug":"controle","status":"publish","type":"page","link":"https:\/\/www.cdta.dz\/fr\/recherche-et-technologie\/divisions\/division-productique-et-robotique\/equipes-de-la-division-rp\/controle\/","title":{"rendered":"Contr\u00f4le"},"content":{"rendered":"<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-8180 aligncenter\" src=\"https:\/\/www.cdta.dz\/wp-content\/uploads\/2019\/09\/Logo-controle-1.png\" alt=\"\" width=\"150\" height=\"131\" \/><\/p>\n<p>[vc_row][vc_column][vc_column_text el_class=\u00a0\u00bbtext-justify\u00a0\u00bb]<br \/>\nL\u2019\u00e9quipe contr\u00f4le existe depuis plus de 20 ans d\u2019activit\u00e9 de recherche et d\u00e9veloppement, son programme de recherche traite la probl\u00e9matique du contr\u00f4le robuste des robots \u00e0 travers la proposition de strat\u00e9gies de commande bas\u00e9es sur les nouvelles g\u00e9n\u00e9rations de contr\u00f4leurs homog\u00e8nes qui sont \u00e0 la fois continus et robustes et qui fournissent des performances \u00e9lev\u00e9es dans un d\u00e9lai d\u00e9termin\u00e9, en d\u00e9pit des incertitudes et perturbations. De plus, l\u2019objectif est de proposer des strat\u00e9gies de commande tout en prenant en consid\u00e9ration l\u2019environnement dans lequel le robot \u00e9volue (contraintes dynamiques).\u00a0\u00a0 La commande optimale est aussi l\u2019une des probl\u00e9matiques trait\u00e9es dans cette \u00e9quipe\u00a0 de recherche, dont le souci est de\u00a0 d\u00e9velopper des algorithmes de commande robuste et optimale qui permettent de minimiser la consommation \u00e9nerg\u00e9tique du robot et la r\u00e9duction du temps de la mission sur des syst\u00e8mes robotiques qui soient des robots manipulateur (rigides, souples et flexibles) ou des robots mobiles (AGV et UGV).<\/p>\n<p><strong><u>Projets<\/u>\u00a0:<\/strong><\/p>\n<ul>\n<li>FNR\u00a0: Contr\u00f4le Robuste des Syst\u00e8mes Robotiques (CRSR)<\/li>\n<li>Socio-\u00e9conomique\u00a0: R\u00e9alisation d\u2019un robot exosquelette d\u00e9di\u00e9 \u00e0 la r\u00e9\u00e9ducation fonctionnelle<\/li>\n<\/ul>\n<p>\u00c9quipements \\ logiciels : Robots mobiles , Muscle artificiel<\/p>\n<p><strong>Valorisation\u00a0:<\/strong><\/p>\n<p>Nous citons quelques articles parus uniquement dans des journaux durant le protocole pr\u00e9c\u00e9dent :<\/p>\n<p>1)K. Kherraz, M. Hamerlain, N. Achour<\/p>\n<p>\u201cRobust Neuro-Fuzzy Sliding Mode Controller for a flexible Robot Manipulator\u201d, International Journal of Robotics and Automation, 30(1), pp. 1-10, 2015<\/p>\n<p>2) S. Tchenderli, F. Hamerlain , N. Saadia<\/p>\n<p>\u201cExperimentations on the adaptive sliding mode control For aTrajectory Tracking Applied on a Bi\u2010Steerable Car\u00a0\u00bb, International. Journal of Vehicle Design, Vol.69 , N\u00b01\/2\/3\/4 , pp. 285-303, 2015<\/p>\n<p>3) Faiza Hamerlain ,\u00a0 Thierry Floquet,\u00a0 Wilfrid Perruquetti<\/p>\n<p>\u201cExperimental Tests of a Sliding Mode Controller for Trajectory Tracking of a Car-like Mobile Robot\u201d. Robotica, Cambridge University Press,\u00a0 October 2014, 32 (1), pp.63-76<\/p>\n<p>4) L. Melkou, M. Hamerlain,<\/p>\n<p>\u00ab\u00a0Classical Sliding and Generalized Variable Structure Controls for a Manipulator Robot Arm with Pneumatic Artificial Muscles\u00a0\u00bb. Journal of System Dynamics Applications (IJSDA). IGI-Global, USA. (Vol. 3, issue 1, 2014).<\/p>\n<p>5) ALLAM Ahmed, NEMRA Abdelkrim, HAMERLAIN Mustapha<\/p>\n<p>\u201cSmooth Variable Structure Filter VSLAM\u201d ,\u00a0 IFAC-PapersOnLine 49-15 (2016) 205\u2013211,\u00a0\u00a0\u00a0\u00a0\u00a0 Journal ELSEVIER 2016<\/p>\n<p>6) Fouad Yacef , Omar Bouhali , Mustapha Hamerlain\u00a0 and Nassim Rizoug<\/p>\n<p>\u201c Observer-based Adaptive Fuzzy Backstepping Tracking Control of Quadrotor Unmanned Aerial Vehicle Powered by Li-ion Battery\u201d, Journal of Intelligent &amp; Robotics systems , DOI 10.1007\/s10846-016-0345-0, 2016<\/p>\n<p>7) A. Rezoug, B. Tondu, M. Hamerlain and M. Tadjine<\/p>\n<p>\u00abRBFNN nonsingular terminal sliding super twisting control for n-DOF robotic manipulator\u00a0\u00bb Journal of control and applied engineering, Vol 18, N\u00b03.\u00a0 PP. 52-62, 2016<\/p>\n<p>8) S. A. Tchenderli-Braham, F. Hamerlain, and N. Saadia<\/p>\n<p>\u00ab\u00a0A Unified Approach for Both Trajectory Tracking and Stabilization Tasks Applied on a Wheeled Mobile Robot,\u00a0\u00bb Journal of control Engineering and Applied Informatics, 2016.<\/p>\n<p><strong>\u00a0<\/strong><\/p>\n<p><strong>Collaboration\u00a0:<\/strong><\/p>\n<table>\n<tbody>\n<tr>\n<td width=\"187\"><strong>NOM et Pr\u00e9nom<\/strong><\/td>\n<td width=\"143\"><strong>Grade<\/strong><\/td>\n<td width=\"234\"><strong>Qualit\u00e9 (associ\u00e9, collaborateur, \u00e9tudiant *)<\/strong><\/td>\n<td width=\"191\"><strong>Structure de rattachement <\/strong><\/td>\n<\/tr>\n<tr>\n<td width=\"187\">Prof. Benallegue Aziz<\/td>\n<td width=\"143\">Professeur<\/td>\n<td width=\"234\">Collaborateur<\/td>\n<td width=\"191\">Universit\u00e9 de Versailles, France<\/td>\n<\/tr>\n<tr>\n<td width=\"187\">Prof. Bouaziz Samir<\/td>\n<td width=\"143\">Professeur<\/td>\n<td width=\"234\">Collaborateur<\/td>\n<td width=\"191\">Universit\u00e9 paris-Saclay<\/td>\n<\/tr>\n<tr>\n<td width=\"187\">Prof. Guiatni Mohamed<\/td>\n<td width=\"143\">Professeur<\/td>\n<td width=\"234\">collaborateur<\/td>\n<td width=\"191\">Ecole Militaire Polytechnique<\/td>\n<\/tr>\n<tr>\n<td width=\"187\">Dr. Laghrouche salah<\/td>\n<td width=\"143\">MRA (HDR)<\/td>\n<td width=\"234\">Collaborateur<\/td>\n<td width=\"191\">Universit\u00e9 de Belfort, FEMTO (CNRS)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<p style=\"text-align: right;\"><strong>Chef d&rsquo;\u00e9quipe\u00a0<\/strong><\/p>\n<p style=\"text-align: right;\"><b>Dr. Belhocine Mahmoud, Directeur de Recherche<\/b><\/p>\n<p>[\/vc_column_text][\/vc_column][\/vc_row]<\/p>\n","protected":false},"excerpt":{"rendered":"<p>[vc_row][vc_column][vc_column_text el_class=\u00a0\u00bbtext-justify\u00a0\u00bb] L\u2019\u00e9quipe contr\u00f4le existe depuis plus de 20 ans d\u2019activit\u00e9 de recherche et d\u00e9veloppement, son programme de recherche traite la probl\u00e9matique du contr\u00f4le robuste des robots \u00e0 travers la proposition de strat\u00e9gies de commande bas\u00e9es sur les nouvelles g\u00e9n\u00e9rations de contr\u00f4leurs homog\u00e8nes qui sont \u00e0 la fois continus et robustes et qui fournissent des [&hellip;]<\/p>\n","protected":false},"author":46,"featured_media":8938,"parent":6874,"menu_order":1,"comment_status":"closed","ping_status":"closed","template":"division-page.php","meta":{"footnotes":""},"class_list":["post-6954","page","type-page","status-publish","has-post-thumbnail","hentry"],"_links":{"self":[{"href":"https:\/\/www.cdta.dz\/fr\/wp-json\/wp\/v2\/pages\/6954\/"}],"collection":[{"href":"https:\/\/www.cdta.dz\/fr\/wp-json\/wp\/v2\/pages\/"}],"about":[{"href":"https:\/\/www.cdta.dz\/fr\/wp-json\/wp\/v2\/types\/page\/"}],"author":[{"embeddable":true,"href":"https:\/\/www.cdta.dz\/fr\/wp-json\/wp\/v2\/users\/46\/"}],"replies":[{"embeddable":true,"href":"https:\/\/www.cdta.dz\/fr\/wp-json\/wp\/v2\/comments\/?post=6954"}],"version-history":[{"count":3,"href":"https:\/\/www.cdta.dz\/fr\/wp-json\/wp\/v2\/pages\/6954\/revisions\/"}],"predecessor-version":[{"id":193294,"href":"https:\/\/www.cdta.dz\/fr\/wp-json\/wp\/v2\/pages\/6954\/revisions\/193294\/"}],"up":[{"embeddable":true,"href":"https:\/\/www.cdta.dz\/fr\/wp-json\/wp\/v2\/pages\/6874\/"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.cdta.dz\/fr\/wp-json\/wp\/v2\/media\/8938\/"}],"wp:attachment":[{"href":"https:\/\/www.cdta.dz\/fr\/wp-json\/wp\/v2\/media\/?parent=6954"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}