Papers by Foudil ABDESSEMED
This paper, proposes a methodology to implement a suitable nonsingular terminal sliding mode cont... more This paper, proposes a methodology to implement a suitable nonsingular terminal sliding mode controller associated with the output feedback control to achieve a successful trajectory tracking of a non-holonomic wheeled mobile robot in presence of longitudinal and lateral slip accompanied. This implementation offers a relatively faster and high precision tracking performance. We investigate this approach and demonstrate its feasibility for such situations where robustness against perturbation and measurement errors are required. In this study, tyre-forces are considered as perturbation. These forces appear because of wheel slip of the wheeled mobile robot moving at high speed or on a slippery surface. The need to compensate these forces are achieved through a design of an intelligent estimation paradigm. The estimator is realized by a fuzzy logic model that requires slip angle and slip ratio as inputs. The weight of the robot mechanical structure is an important parameter in this design. In fact, it is used to adjust the gain of the output, resulting in a fuzzy estimator that synthesizes the magic formula for a large model of tyres. Simulation results are reported and discussed.
In this contribution normal flat forms are used to achieve stable tracking control for nonlinear ... more In this contribution normal flat forms are used to achieve stable tracking control for nonlinear flat systems. Our approach is based on a nonlinear transformations in order to derive two 0-flat normal forms for a class of non-linear systems, a dynamical control law is then proposed to achieve stable trajectory tracking. Finally, This method is generalized to analysis and control a class of a 0-flat affine nonlinear multi-input dynamical systems for which we can build flat outputs to give structural normal flat forms. The computer simulations are given in the paper to demonstrate the advantages of the method.
Abstract: In this article we develop a new approach to control an omnidirectional mobile manipula... more Abstract: In this article we develop a new approach to control an omnidirectional mobile manipulator. This approach is based on a layered command structure and impedance control technique. First we define multiple control behaviors depending on the robot tasks. ...
AbstractIn this paper we presents two new 0-flat normal forms. It deals with sufficient geometri... more AbstractIn this paper we presents two new 0-flat normal forms. It deals with sufficient geometrical conditions which enable us to conclude if a given nonlinear controllable dynamical system can be transformed, by means of change of coordinates, to one of these normal forms. In the ...
This paper presents graphical modeling and control of the quadcopter dynamics. A quadcopter is an... more This paper presents graphical modeling and control of the quadcopter dynamics. A quadcopter is an under-actuated system with nonlinear dynamics. For stabilization of such complex system, it is necessary to have a nonlinear control. Therefore, a model-based control is developed for the altitude (height) and attitude (roll, pitch, and yaw) control of the quadcopter dynamics. The dynamic model of quadcopter is developed using a power-based graphical modeling tool, called bond graph. Subsequently, the bond graph model is used to develop altitude and attitude control of the quadcopter. Finally, the developed algorithm is validated through simulation.
IFAC Proceedings Volumes, 2009
In this article we develop a new approach to control an omnidirectional mobile manipulator. This ... more In this article we develop a new approach to control an omnidirectional mobile manipulator. This approach is based on a kinematic command structure and impedance control technique. First we define multiple control behaviors depending on the robot tasks. Two behaviors are considered here the synchronized one and the independent one. Each behavior mentioned above is described in terms of force and position models in order to allow each robot to regulate his corresponding behavior. In the case of synchronized situation, kinematic modelling is presented with particular emphasis on redundancy. We use the additional task concept to solve the control problem of these redundant holonomic systems by taking into account the external forces.
ABSTRACT This article proposes a canonical normal form for a class of 0-flat nonlinear systems to... more ABSTRACT This article proposes a canonical normal form for a class of 0-flat nonlinear systems to control a 7 d.o.f-biped robot. Sufficient geometrical conditions are given to transform the studied nonlinear systems into the proposed 0-flat canonical form, which enables us to compute the flat output as well. The results obtained are very convincing and show the usefulness of such a method in studying highly non-linear systems and designing control laws to drive them.
And the guiding principle of soft computing, which follows from these premises, is exploit tolera... more And the guiding principle of soft computing, which follows from these premises, is exploit tolerance for imprecision, uncertainty, and partial truth to achieve tractability, robustness, and low solution costs. Both the premises and the guiding principle differ strongly from those in classical hard computing, which require precision, certainty, and rigor. However, since precision and certainty carry a cost, the soft computing approach to computation, reasoning, and decision making should exploit the tolerance for imprecision (inherent in human reasoning) when necessary. A long standing tradition in science gives more respect to theories that are quantitative, formal, and precise than those that are qualitative, informal, and approximate. Many
The Journal of Engineering Research, Dec 1, 2008
Activated carbon adsorbent was prepared using Omani date palm tree stem as a precursor. Precursor... more Activated carbon adsorbent was prepared using Omani date palm tree stem as a precursor. Precursor samples were subjected to thermal treatment (at 400, 500 and 600 o C) before or after impregnation with either H 3 PO 4 (85 wt %) or KOH (3 wt %). The activated carbon obtained was characterized by BET (surface area and porosity), Gas Pycnometry (true density) and SEM (texture). Sample subjected to carbonization, without chemical activation, exhibited low surface areas ~ 1.0 m 2 /g at 400 and 500 o C and 124 m 2 /g at 600 o C. Further treatment of such samples with either the acid or the base did not show improvement in surface area or other properties. Impregnations of the precursor with acid before carbonization significantly improved the surface area to as high as 1,100 m 2 /g at a carbonization temperature of 500 o C. Thus, activated carbon with a moderate surface area could be produced from date palm stem using low carbonization temperature.
Robotics and Autonomous Systems, 2014
ABSTRACT This paper deals with the use of 0-flat normal form to control a 7 d.o.f-biped robot to ... more ABSTRACT This paper deals with the use of 0-flat normal form to control a 7 d.o.f-biped robot to follow a specified trajectory. Sufficient geometrical conditions are given to transform the studied nonlinear systems into a 0-flat normal form and determine the flat outputs. On the other hand, a controller design strategy is proposed to control the walking robot. Simulations are carried out using Matlab. The results obtained are very convincing and show the usefulness of such a method in studying highly non-linear systems and designing control laws to drive them.
Zenodo (CERN European Organization for Nuclear Research), Sep 16, 2016
IEEE Conference Proceedings, 2016
International Journal of Information Acquisition, Dec 1, 2010
This paper presents an application of the multi-agent system approach to mobile manipulators that... more This paper presents an application of the multi-agent system approach to mobile manipulators that cooperate to achieve displacement of heavy and large objects. Therefore, the task is distributed between agents, and each agent offers and negotiates its services that help in accomplishing the mission. The multi-agent system has been developed using the oRis platform. The main components of such a system include communication and negotiation protocols. Hence we present the behavior of robots, their interaction, and their behavior toward obstacles. Computer simulations are conducted in order to demonstrate the feasibility of the proposed approach.
International Journal of Advanced Robotic Systems, 2012
Real systems are usually non-linear, ill-defined, have variable parameters and are subject to ext... more Real systems are usually non-linear, ill-defined, have variable parameters and are subject to external disturbances. Modelling these systems is often an approximation of the physical phenomena involved. However, it is from this approximate system of representation that we propose-in this paper-to build a robust control, in the sense that it must ensure low sensitivity towards parameters, uncertainties, variations and external disturbances. The computed torque method is a well-established robot control technique which takes account of the dynamic coupling between the robot links. However, its main disadvantage lies on the assumption of an exactly known dynamic model which is not realizable in practice. To overcome this issue, we propose the estimation of the dynamics model of the nonlinear system with a machine learning regression method. The output of this regressor is used in conjunction with a PD controller to achieve the tracking trajectory task of a robot manipulator. In cases where some of the parameters of the plant undergo a change in their values, poor performance may result. To cope with this drawback, a fuzzy precompensator is inserted to reinforce the SVM computed torque-based controller and avoid any deterioration. The theory is developed and the simulation results are carried out on a two-degree of freedom robot manipulator to demonstrate the validity of the proposed approach.
HAL (Le Centre pour la Communication Scientifique Directe), Sep 9, 2009
IFAC Proceedings Volumes, 2009
This paper presents an approach for desired joint trajectory generation for motion control of a m... more This paper presents an approach for desired joint trajectory generation for motion control of a mobile manipulator. The objective is to allow the end-effector tracks a given operational trajectory in a fixed world frame. In this paper, each of the arm and the mobile platform is treated separately. This mode of operation is well suited in simple manipulation tasks like pick and place. We also present the hardware architecture, which makes use of a PC as the host. It is configured in such a way that it performs all the input-output interface operations. On the other hand, we have implemented a low level layer that includes the required hardware for each of the subsystems making the mobile manipulator. The results presented have tested and showed the effectiveness of the method for tasks like pick and plac
AbstractMany useful tasks require both mobility and manipulation; one or more mobile robots must... more AbstractMany useful tasks require both mobility and manipulation; one or more mobile robots must move to a given location some manipulations. After a brief review of the current research on multi-robot systems, the paper presents a multi-agent system for carrying a large ...
Advances in Science, Technology and Engineering Systems Journal, May 1, 2017
This paper presents the development and design of a methodology based on fuzzy logic to control a... more This paper presents the development and design of a methodology based on fuzzy logic to control an indoor mobile robot for a complete navigation in an unknown environment. The methodology incorporates two basic behaviors, namely: reaching the goal and avoiding obstacles. The obstacle avoidance behavior is treated using wall-following scheme based on an Interval Type-2 Fuzzy Inference technique. .This helps in handling data uncertainties to produce a better performance. The mobile robot control mechanism uses some sort of knowledge base arranged in a set of fuzzy-rule-base to implement the wanted behavior that makes the mobile robot follow the boundary of an obstacle or a wall. A constant distance to the obstacle/wall is maintained while the robot tries successfully to get around this difficulty. Once the path is clear, the obstacle avoidance behavior is inhibited and reaching the goal behavior is activated using a secondary fuzzy controller. This methodology was successfully tested on a real mobile robot for different sort of scenarios. In order to provide better insight into the work's objective, a comparison work with another method, which uses a Partial Swarm Optimization-Fuzzy method, is carried out based on some defined criteria. The experiment shows a better improvement in the results of the proposed method.
ABSTRACT The aim of this paper is to propose an integrated solution to the problem of pilgrimage ... more ABSTRACT The aim of this paper is to propose an integrated solution to the problem of pilgrimage transportation control while tracking the shuttle-bus from its starting point till its final destination. Our objective is to identify the shuttle-buses and the passengers using advanced communication and information technology. The project if implemented will replace the manual system which is heavy, complex, tedious and difficult to control. This application identifies a particular bus by the RFID tag fixed on it. Passengers boarding or getting down the bus are identified on the basis of RFID cards they have and finger identification. The system could be more elaborately established for all buses and passengers and a complete digital network could be established with the least of its possible errors. The tags are cost efficient and the whole equipment once installed can work without any particular attention. The area of application of RFID is very wide and the technology has already proven its value. Thus the implementation and practice of such a digital system would always be worth. The proposed system is designed to work in an environment where vehicle and passenger identification is required, namely at check points, in order to speed up the checking process with best quality services. As a matter of fact, a complete functional database with Server and security polices for handling the server must be provided. For the purpose of passenger identification, the tags are attached to the pilgrim ID cards and the reader collects the details from them. The confirmation of the data collected could be confirmed only when the finger prints is validated. In this study, we also propose a statistical study of the basic important bus parking and the way they should be organized and controlled to avoid congestion and troubles.
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Papers by Foudil ABDESSEMED