KELTOUM Loukal

BAKHTAOUI Fayza , KHECHAI Iness

Artificial Intelligence Control of a Magnetic Levitation System

MAHMOUDI Yasmine , KIRECHE Manal

Commande par l’intelligence artificielle d’un satellite (SATLAN system)

GHAZAL Ratiba , DELHOUM Bouchra

Commande d’un Robot manipulateur à articulation flexible par les outils de l’intelligence artificielle

Zerrouak Amel , Aouina Hibatellah Boutheyna

Nonlinear control of a manipulator arm

MAHMOUDI Yasmine , KIRECHE Manal

Commande par l’intelligence artificielle d’un satellite (SATLAN system)

MBDAGUINE Ismahan Chahrazad

Commande non linéaire tolérante au défaut d'un bras manipulateur

Mohamed MOKHTARI , Anhar LADJEL, Mohammed El Amine SEBAA

COMMANDE PAR MODE GLISSANT D’UN SYSTEME MECANIQUE

Yasmine MAHMOUDI , Hibatallah Boutheyna AOUINA, Manal KIRECHE

COMMANDE PAR BACKSTEPPING D’UN SATELLITE (SATLAN SYSTEM)

Ben kihoul Abde ssamed

Contribution à La Commande Non Linéaire D’un Bras Manipulateur

SEMATI Tahar

Commande adaptative floue d’un système Hydraulique CE105

BERBICHE Elhadi , CHIKH Abdelmalek

ETUDE DE STABILITE D'UN SYSTEME ÉCHANTILLONNÉ

MOKHTARI Mouna , BAGHDADI Zahra

Commande Non Linéaire D’un Système Hydraulique CE105 à Réservoirs Couplés

AMROUNE AHMED , BADRA ABDELMOUNAIM, TOUIR AHMED

IDENTIFICATION EN BOUCLE FERMEE

Benallia Mohamed El Amin , Benzahia Houd, Berrabeh Ayoub

MODELISATION ET COMMANDE PID D'UN SUSTENTION MAGNETIQUE

Sahraoui Samira

IDENTIFICATION PAR LA METHODE DES MOINDRES CARRES

GUEDOUAR Thouria

Commande IP à Gains Adaptatifs Flous D’une Machine Asynchrone à Double Alimentation

Nadjib BENADEL , Fateh ABDELGHANI, Mohamed BENRAMACHE

ETUDE THEORIQUE DES FILTERS ANALOGIQUES

Mouhamed taqy eddine MAHDI , Soufiane ADJILI, Abd essalem DJAAFRI

COMMANDE D'UN SYSTEME HYDRAULIQUE PAR UN REGULATEUR PID A GAINS ADAPTATIFS PAR LA LOGIQUE FLOUE

The goal of this paper is to explore the application of Passive Sliding Mode Fault Tolerant Control (PSMFTC) for a manipulator arm with two degrees of freedom (2DOF). This approach is based on sliding mode control, a powerful technique for ensuring robustness in the presence of system uncertainties or faults. Initially, the paper presents the mathematical modeling of the manipulator system using state-space representation. It then introduces the concept of nonlinear control and provides a detailed explanation of variable structure theory, which forms the foundation for the PSMFTC method. In the subsequent sections, the PSMFTC method is applied to the mathematical model of the 2DOF robotic arm, and the performance is evaluated using MATLAB/SIMULINK simulations. To assess the effectiveness of the proposed method, the results are compared to those of a traditional PID controller. The comparison aims to evaluate the ability of both approaches to maintain system performance, ensure stability, and achieve accurate trajectory tracking, particularly in the presence of potential faults or disturbances. The findings of this study demonstrate that the PSMFTC significantly outperforms the PID controller, offering enhanced robustness, better fault tolerance, and improved overall performance in terms of stability and tracking accuracy. The results highlight the advantages of using sliding mode control techniques in fault-tolerant applications for robotic systems.

Citation

ABDERRAHMEN Bouguerra , Keltoum LOUKAL , ,(2025-12-10), Passive Sliding Mode Fault-Tolerant Control Approach for a Robotic arm with a Gripper,2025 2nd International Conference of Advanced Technology in Electronic and Electrical Engineering (ICATEEE),Msila University, Algeria

This study suggests an intelligent control framework designed for robotic manipulators featuring flexible joints, addressing the challenges of nonlinear dynamics and parameter uncertainty. The study presents an Adaptive Neuro-Fuzzy Inference System (ANFIS) controller, which is assessed in comparison to conventional PID control for trajectory tracking applications. The paper utilizes Lagrangian mechanics and state-space formulation to model system dynamics, incorporating joint elasticity to improve accuracy. A key aspect of the study is the requirement for adaptation to dynamic operating conditions, which is essential for practical robotic applications. The simulations show that ANFIS is more accurate and flexible than Fuzzy logic controller (FLC), which makes it a good choice for robotic tasks that need a lot of accuracy. This research illustrates the potential of ANFIS to address uncertainties and nonlinearities in robotic control, particularly in scenarios where flexibility and accuracy are paramount.

Citation

ABDERRAHMEN Bouguerra , Keltoum LOUKAL , ,(2025-12-10), Smart Control of Flexible-Joint Manipulator Arm Using a Hybrid ANFIS Architecture,2025 2nd International Conference of Advanced Technology in Electronic and Electrical Engineering (ICATEEE),Msila University, Algeria

This paper presents an intelligent control framework for robotic manipulators with exible joints, addressing the critical challenges of nonlinear dynamics and parameter uncertainties. We propose an Adaptive Neuro- Fuzzy Inference System (ANFIS) controller and conduct a comparative study with conventional PID control for trajectory tracking applications. The system dynamics are modeled using Lagrangian mechanics with statespace formulation to account for joint elasticity. Simulation results establish ANFIS as a promising solution for high-precision robotic applications requiring adaptability to dynamic operating conditions.

Citation

ABDERRAHMEN Bouguerra , Keltoum LOUKAL , ,(2025-09-03), Mathematical Modeling and Intelligent Control of Flexible-Joint Manipulators Using Hybrid ANFIS Architecture,9th International Conference of Mathematical Sciences (ICMS 2025),Maltepe University, Istanbul, Turkey

The objective of this paper is the application of the passive sliding mode fault tolerant control (PSMFTC) of a manipulator arm with two degrees of freedom based on the control with sliding mode. we start by mathematical modeling of this system with state space and presenting the idea of this non-linear control. We presented the theory of the variable structure, in order to use in the PSMFTC method. This last technique is applied to the mathematical model of manipulator arm with 2DOF system using MATLAB/ SIMULINK, their performance results are compared with a PID controller in order to discover who these approaches preserve system performance and ensure stability and trajectory tracking. The results of the study prove the higher performance of the PSMFTC when compared with the PID technique.

Citation

Keltoum LOUKAL , ABDERRAHMEN Bouguerra , ,(2025-09-03), A Mathematical Modeling and Passive Sliding Mode FTC Method of a Manipulator Arm,9th International Conference of Mathematical Sciences (ICMS 2025),Maltepe University, Istanbul, Turkey

Tuning the PI and backstepping (BS) controllers is a critical issue for ensuring good tracking performance and stable operation of the wind turbine based on dual-stator induction generator (WT-DSIG) systems. However, no existing research has yet comprehensively tuned the control parameters. Therefore, this paper proposes an innovative tuning method using the subtraction-average-based optimizer (SABO) to ensure optimal PI and backstepping controller parameters tuning. The optimally tuned controllers-based field-oriented control (FOC) scheme is applied for a WT-DSIG system. This research aims to offer an easy and effective method for optimal tuning of the control parameters, which contributes to improving the control performance, hence the WT-DSIG system’s stability. The proposed method is superior to the existing techniques, as it uses the SABO, a metaheuristic stochastic algorithm, to simultaneously optimize the natural frequencies of the flux, speed, and current PI controllers and the backstepping controller’s gains. To assess the effectiveness of the proposed control approach, a hardware-in-the-loop (HIL) implementation is carried out using the PLECS/RT-Box real-time simulator. The HIL findings through comparative study further confirm the superiority of the optimally designed controllers over the conventional techniques, highlighting significant enhancements in dynamic, steady state, THD, and time-integral performance criteria, ISE, and IAE.

Citation

Keltoum LOUKAL , , (2024-10-19), SABO optimization algorithm-based backstepping controller for DSIG within a wind turbine system, Electrical Engineering, Vol:0, Issue:, pages:17, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024

This paper presents the interval type 2 fuzzy logic controller (IT2FLC) for a manipulator robot system. After dynamic modeling and system state modeling, we presented the method of the fuzzy logic control, the efficient interval type-2 fuzzy controller is designed for trajectory tracking of two DOF robotic manipulator. A comparative study is made between the proposed interval type 2 fuzzy logic control technique in the presence of variation of parameters. The results obtained show that the proposed IT2FLC has a superior robustness against difference of parameters where the two DOF robotic manipulator system functions with satisfactory performance.

Citation

Keltoum LOUKAL , ABDERRAHMEN Bouguerra , ,(2024-07-19), Modeling and interval type 2 fuzzy logic controller of manipulator robot,INTERNATIONAL CONFERENCE ON APPLIED ANALYSIS AND MATHEMATICAL MODELING, 2024,istanbul,Turkie

The objective of this paper is to develop an adaptive proportional-integral-derivative control for a nonlinear quadrotor system. we start by modeling of this system with state space and presenting the idea of this adaptive control. We presented the theory of the type 2 fuzzy logic, in order to use in the adaptation of the gains parameters of the PID control. The adaptive PID (T2FAPID) technique are applied to the unmanned aerial vehicle (UAV) system, their performance results are compared to a designed non adaptive PID controller. The effectiveness of the suggested adaptive methods is demonstrated in simulations with a quaternion-based nonlinear dynamic model of a quadrotor derived in this work. The results of the study prove the higher performance of the T2FAPID technique in regulating the attitude stabilization of the quadrotor.

Citation

Keltoum LOUKAL , ABDERRAHMEN Bouguerra , ,(2024-07-19), Mathematical Modeling and an Adaptive PID Control of Quadrotor,12th International Conference on Applied Analysis and Mathematical Modeling (ICAAMM-2024),istanbul,Turkie

To save the robustness of type 2 fuzzy logic control technique and to avoid the high energy consumption that represents the sliding mode control (SMC) technique control technique, without failing the performance of the system, we propose a new fault tolerant control method based on gain-scheduled sliding mode control with interval type 2 fuzzy logic (FTCGST2FSMC) applied to the hydraulic system (two tanks system) with an actuator fault. The proposed control scheme avoids a difficult modeling, due to the chatter effect of the SMC, guarantees the stability studied by Lyapunov with the robustness of the system. The gains of the control with the SMC controller are modified and changed by an adaptation with a technique based on type 2 fuzzy logic, used to improve the gains of the controller when the fault is added, the proposed FTCGST2FSMC controller has been compared with the sliding mode controller. The results obtained confirm the robustness and the performance of this method, in the presence of the actuator fault effect.

Citation

Keltoum LOUKAL , ABDERRAHMEN Bouguerra , SAMIR Zeghlache , , (2023-09-19), Fault tolerant control of two tanks system using gain-scheduled type-2 fuzzy sliding mode controller, IAES International Journal of Artificial Intelligence (IJ-AI), Vol:12, Issue:3, pages:10, IAES

This paper presents the fault tolerant control for a satellite (Satlan system) based on backstepping theory with actuator fault can be modeled by a step signal (additive fault). After dynamic modeling and system state modeling, we presented the technique of the backstepping control. We presented the actuator fault by augmentation in the control of this system. The proposed FTC is able to maintain acceptable performance in the control law and guarantees robustness against uncertainties and external disturbances. A comparative study is made between the proposed fault tolerance control and the PID control technique in the presence of actuator fault. The results obtained show that the proposed FTC has better robustness against actuator fault where the Satlan system operates with acceptable performance.

Citation

Keltoum LOUKAL , ABDERRAHMEN Bouguerra , SAMIR Zeghlache , ,(2023-07-10), Backstepping fault-tolerant control for a Satlan system with actuator fault,(hybrid ) International Conference on Nonlinear Science and Complexity (ICNSC23),Istanbul-Turkey

The aim of this paper is to develop a passive actuator fault-tolerant control law for a highly nonlinear hydraulic system with two reservoirs using the feedback linearization control (FLC). You start by modeling this system with state space and presenting the theory of this command. We presented the actuator fault (additive fault) by augmentation in the law control. The passive fault-tolerant control method based on feedback linearization control technique (PFTCFLC) are implemented to the two tanks system, their performance is compared with the PID control technique. The results of the study demonstrate the superior performance of the PFTCFLC technique in regulating the level of the hydraulic system, indicating its robustness and fault tolerance.

Citation

ABDERRAHMEN Bouguerra , Keltoum LOUKAL , SAMIR Zeghlache , ,(2023-07-10), Passive fault-tolerant control method based on feedback linearization control technique of two tanks system,(hybrid ) International Conference on Nonlinear Science and Complexity (ICNSC23),Istanbul-Turkey

Abstract—To keep the robustness and the advantage of the fuzzy logic control technique and to reduce the high energy level of the feedback linearization technique, we propose a new FTC method based on the feedback linearization control (FLC) with adaptive gains with fuzzy logic (FTCFAGFLC) applied to the two tanks coupled system with an actuator fault. The proposed control scheme makes the hybridization between the two techniques, intelligent and guarantees the stability studied by the feedback linearization technique. An adaptation with a fuzzy technique adjusted the parameter of the FLC used to adjust the controller gains in real-time and the proposed FTCFAGFLC was compared to the FLC. The results obtained confirm the effectiveness of the proposed method in the presence of the actuator fault effect.

Citation

Keltoum LOUKAL , ABDERRAHMEN Bouguerra , SAMIR Zeghlache , ,(2022), Fuzzy Adaptive Gains Fault Tolerant Control Based on Feedback Linearization of the Two Tanks System,The 2022 InternationalThe 2022 International Conference of advanced Technology in Electronic and Electrical Engineering (ICATEEE),University Mohamed Boudiaf- M'sila, Algeria

The aim of this work is to develop the actuator fault-tolerant control laws based on fuzzy logic applied to the model of a hydraulic system (tow tanks system) which is highly nonlinear. After dynamic modeling and system state modeling, we presented the theory of the two commands used in this work. First, we proposed a feedback linearization control (FLC), then we approached a synthesis of the controls with sliding mode control (SMC), The proposed methods make the hybridization between the two techniques, with the fuzzy technique, this last used to adjust the gains of the FLC and the SMC, finally a comparative study between these control laws and the performances of each and a discussion in a brief general conclusion.

Citation

Keltoum LOUKAL , ABDERRAHMEN Bouguerra , SAMIR Zeghlache , ,(2022), Fuzzy Gains-scheduled Actuator Fault-Tolerant Control Comparative Study for Two Tanks Level System,2nd International Conference on Engineering and Applied Natural Sciences,Konya, TURKEY

This paper presents a comparison between an Interval Type 2 Fuzzy Gain Adaptive PI and a Conventional PI controllers used for speed control of an Electronically Commutated Motor (BrushLess DC Motor). In particular, the introduction of this paper presents a type 2 fuzzy logic Gain Adaptive PI controller of machines, in the first part we presents a description of the mathematical model of BLDCM, and an strategy method is proposed for the speed control of this motor in the presence of the variations parametric, A interval type-2 fuzzy inference system is used to adjust in real-time the controller gains. The obtained results show the efficacy of the proposed method.

Citation

izzeddine DILMI , ABDERRAHMEN Bouguerra , SAMIR Zeghlache , Keltoum LOUKAL , ,(2019), INTERVAL TYPE 2 FUZZY GAIN-ADAPTIVE PI CONTROLLER OF BRUSHLESS DC MOTOR,5TH INTERNATIONAL CONFERENCE ON ADVANCES IN MECHANICAL ENGINEERING,Istanbul

This paper presents a comparison between an Interval Type 2 Fuzzy Gain Adaptive PI and a Conventional PI controllers used for speed control of an Electronically Commutated Motor (BrushLess DC Motor). In particular, the introduction of this paper presents a type 2 fuzzy logic Gain Adaptive PI controller of machines, in the first part we presents a description of the mathematical model of BLDCM, and an strategy method is proposed for the speed control of this motor in the presence of the variations parametric, A interval type-2 fuzzy inference system is used to adjust in real-time the controller gains. The obtained results show the efficacy of the proposed method.

Citation

ABDERRAHMEN Bouguerra , izzeddine DILMI , SAMIR Zeghlache , Keltoum LOUKAL , ,(2019), INTERVAL TYPE 2 FUZZY GAIN-ADAPTIVE PI CONTROLLER OF BRUSHLESS DC MOTOR,5TH INTERNATIONAL CONFERENCE ON ADVANCES IN MECHANICAL,istanbul, turkey

This paper presents a comparison between a fuzzy gain adaptive controller and a conventional PI controller used for speed control of a Brushless DC motor (BLDCM) or electronically commutated (ECM). First, we establish a dynamic model for direct current to the input of the switch that the electromagnetic torque of BLDCM is proportional to this current. This model is intended to facilitate the procedures for setting and controlling the current, and an adaptive PI controller is proposed for the speed control of BLDCM in the presence of the variations parametric. A fuzzy-Type 1 inference system is used to adjust in real-time the controller gains. The obtained results show the efficacy of the proposed method.

Citation

Keltoum LOUKAL , ABDERRAHMEN Bouguerra , SAMIR Zeghlache , ,(2017), Speed Control of a Brushless DC Motor (BLDCM) Based on Fuzzy Gain-Adaptive PI,10th INTERNATIONAL CONFERENCE on ELECTRICAL and ELECTRONICS ENGINEERING,Bursa,TURKEY

The mean of this paper is fuzzy sliding mode control of a Doubly Fed Induction Motor (DFIM); it’s the coupling of the fuzzy logic control and sliding mode control (SMC). The use of the sliding mode method provides very acceptable performance for DFIM control, and the chattering phenomenon effect is also eliminated by the fuzzy logic mode. In the first part, we carried out briefly a study of modeling on the full system. This model is intended to facilitate the procedures for setting and controlling the speed. We introduced the parameter variation to test the robustness of the control laws. The results of our simulations are conducted to validate the theory and indicate that the control performance of the DFIM is satisfactory and the proposed fuzzy sliding mode control (FSMC) can achieve favorable tracking performance.

Citation

Keltoum LOUKAL , ABDERRAHMEN Bouguerra , BENALIA Leila, , (2017), Speed Control of a Doubly-Fed Induction Motor (DFIM) Based on Fuzzy Sliding Mode Controller, International Journal of Intelligent Engineering and Systems, Vol:10, Issue:3, pages:20-29, INASS

This paper presents a comparison between a fuzzy-IP gain adaptive controller and a conventional IP controller used for speed control with a direct stator flux orientation control of a doubly fed induction motor. In particular, the introduction part of the paper presents a Direct Stator Flux Orientation Control (DSFOC), the first part of this paper presents a description of the mathematical model of DFIM, and an adaptive IP controller is proposed for the speed control of DFIM in the presence of the variations parametric, A fuzzy inference system is used to adjust in real-time the controller gains. The obtained results show the efficacy of the proposed method.

Citation

Keltoum LOUKAL , ABDERRAHMEN Bouguerra , Leila-BENALIA, , (2017), Speed Control of a Doubly Fed Induction Motor Based on Fuzzy Gain- Adaptive IP, International Journal of Information Technology and Electrical Engineering, Vol:6, Issue:3, pages:43-50, ITEE

This paper presents a comparison between an Interval Type-2 Fuzzy Gain-Adaptive IP (IT2FGAIP) controller and a conventional IP controller used for speed control with a direct stator flux orientation control of a doubly fed induction motor. In particular, the introduction part of the paper presents a Direct Stator Flux Orientation Control (DSFOC), the first part of this paper presents a description of the mathematical model of DFIM, and an adaptive IP controller is proposed for the speed control of DFIM in the presence of the variations parametric, A interval type-2 fuzzy inference system is used to adjust in real-time the controller gains. The obtained results show the efficacy of the proposed method. Keywords: doubly fed induction motor; DFIM; direct stator flux orientation control; interval type-2 fuzzy gain-adaptive IP controller; IT2FGAIP; IP controller.

Citation

Keltoum LOUKAL , Leyla. BENALIA, , (2016), INTERVAL TYPE-2 FUZZY GAIN-ADAPTIVE CONTROLLER OF A DOUBLY FED INDUCTION MACHINE (DFIM), Journal of Fundamental and Applied Sciences, Vol:8, Issue:2, pages:470-493, ISSN 1112-9867

The fuzzy controllers have demonstrated their effectiveness in the control of nonlinear systems, and in many cases have established their robust and that their performance is less sensitive to parameter variations over conventional controllers. In this paper, Interval Type-2 Fuzzy Logic Controller (IT2FLC) method is proposed for controlling the speed with a direct stator flux orientation control of doubly-fed induction motor (DFIM), we made a comparison between the Type-1 Fuzzy Logic Control (T1FLC) and IT2FLC of the DFIM, first a modeling of DFIM is expressed in a (d-q) synchronous rotating frame. After the development and the synthesis of a stabilizing control laws design based on IT2FLC. We use this last approach to the control of the DFIM under different operating conditions such as load torque and in the presence of parameter variation. The obtained simulation results show the feasibility and the effectiveness of the suggested method.

Citation

Keltoum LOUKAL , Benalia Leila, , (2015), Type-2 Fuzzy Logic Control of a Doubly-Fed Induction Machine (DFIM), IAES International Journal of Artificial Intelligence (IJ-AI), Vol:4, Issue:4, pages:139~152, ISSN: 2252-8938

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Citation

Keltoum LOUKAL , Leila. BENALIA, ,(2015), speed control of doubly fed induction motor based on fuzzy logic contoller,the first national coference on electronics and new technologies (NCENT'2015),M'sila, Algeria

In this paper, a Fault-Tolerant control of 2 DOF Helicopter (TRMS System) Based on Fuzzy Gain-Adaptive PID is presented. In particular, the introduction part of the paper presents a Fault-Tolerant Control (FTC), the first part of this paper presents a description of the mathematical model of TRMS, an adaptive PID controller is proposed for fault-tolerant control of a TRMS helicopter system in the presence of actuator faults, A fuzzy inference scheme is used to tune in real-time the controller gains, The proposed adaptive PID controller is compared with the conventional PID. The obtained results show the effectiveness of the proposed method

Citation

ABDERRAHMEN Bouguerra , Djamel SAIGAA , SAMIR Zeghlache , Keltoum LOUKAL , Kamel KARA, ,(2015), fault-tolerant fuzzy gain-adaptive PID control for a 2 DOF helicopter (TRMS system),international scientific research and experimental development,istanbul, turkey

This work relates to the super twisting algorithm control of brushless DC motor (BLDCM) or electronically commutated (ECM). First, we establish a dynamic model for direct current to the input of the switch that the electromagnetic torque of BLDCM is proportional to this current. This model is intended to facilitate the procedures for setting and controlling the current. In this paper a recent method called super twisting algorithm is applied to the BLDCM, in order to avoid the chattering problem and to improve control performance. High order techniques allow us to keep the main advantages of the classical sliding mode and to remove the chattering problem.

Citation

Keltoum LOUKAL , ABDERRAHMEN Bouguerra , SAMIR Zeghlache , Leila BENALIA, Mohamed. Chemachema, H. Chekireb, ,(2012), Super Twisting Control Algorithm Applied to the Brushless DC Motor (BLDCM),4th INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING,Alger,algeria