Papers by adel khadhraoui
2023 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)
Robotica
This paper presents backstepping control and backstepping constraint control approaches for a qua... more This paper presents backstepping control and backstepping constraint control approaches for a quadrotor unmanned aerial vehicle (UAV) control system. The proposed methods are applied to a Parrot Mambo drone model to control rotational motion along the $x$ , $y$ , and $z$ axes during hovering and trajectory tracking. In the backstepping control approach, each state of the system controls the previous state and is called “virtual control.” The last state is controlled by the real control input. The idea is to compute, in several steps, a control law that ensures the asymptotic stability of the system. The backstepping constraint control method, based on barrier Lyapunov functions (BLFs), is designed not only to track the desired trajectory but also to guarantee no violation of the position and angle constraints. Symmetric BLFs are introduced in the design of the controller. A nonlinear mathematical model is considered in this study. Based on Lyapunov stability theory, it can be conclu...
Aujourd'hui traverser les océans peut s'effectuer sans difficulté en utilisant toute sort... more Aujourd'hui traverser les océans peut s'effectuer sans difficulté en utilisant toute sorte de véhicule marin. Cependant, il n'en est pas de même pour l'exploration des fonds marins. Face à ce milieu hostile et dangereux, mais potentiellement riche tant sur le plan biologique que sur le plan d'éventuelles ressources exploitables, l'homme a besoin d'assistance dans sa découverte des profondeurs, l'intervention de robots sous-marins est une alternative pour écarter les dangers qui peuvent subir les plongeurs. Dans ce contexte, le présent manuscrit porte sur la modélisation et la commande d'un ROV (Remotely Operated Vehicle) destiné pour l'observation des sites archéologies. Après avoir identifié les différentes variables caractérisantes de la géométrie fixe, nous détaillons, dans un premier temps, la modélisation cinématique et dynamique du véhicule. Il est important de noter qu'un jeux de paramètres d'inertie, masse ajoutée et coefficien...
Aujourd'hui traverser les oceans peut s'effectuer sans difficulte en utilisant toute sort... more Aujourd'hui traverser les oceans peut s'effectuer sans difficulte en utilisant toute sorte de vehicule marin. Cependant, il n'en est pas de meme pour l'exploration des fonds marins. Face a ce milieu hostile et dangereux, mais potentiellement riche tant sur le plan biologique que sur le plan d'eventuelles ressources exploitables, l'homme a besoin d'assistance dans sa decouverte des profondeurs, l'intervention de robots sous-marins est une alternative pour ecarter les dangers qui peuvent subir les plongeurs. Dans ce contexte, le present manuscrit porte sur la modelisation et la commande d'un ROV (Remotely Operated Vehicle) destine pour l'observation des sites archeologies. Apres avoir identifie les differentes variables caracterisantes de la geometrie fixe, nous detaillons, dans un premier temps, la modelisation cinematique et dynamique du vehicule. Il est important de noter qu'un jeux de parametres d'inertie, masse ajoutee et coefficien...
Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics, 2013
The stabilizing control problem of a Remotely Operated Vehicle (ROV) for a submarine observing op... more The stabilizing control problem of a Remotely Operated Vehicle (ROV) for a submarine observing operation is solved explicitly using a homogeneous time-varying controller. We prove that the ROV kino-dynamic model fails the Brockett's necessary condition, consequently, the system's equilibrium cannot be stabilized using continuous pure state feedback laws. Our control strategy is based on a continuous time-varying feedback law taking into account coupling terms due to underactuation and nonlinearities. It is shown that the feedback law stabilizes the ROV at the origin, and this is illustrated by simulations.
2015 3rd International Conference on Control, Engineering & Information Technology (CEIT), 2015
A remotely operated vehicle stabilizing problem, known as ROV-Observer for sub-sea historical sit... more A remotely operated vehicle stabilizing problem, known as ROV-Observer for sub-sea historical sites observation, is addressed in this paper. To success this task, a first part of our study consists to reduce the complexity of the total dynamic model, hence, a rigorous formulation for the control objectives. A constant surge velocity as part of the equilibrium is considered, and around this vector of state a kino-dynamic model is addressed. As only positions are available, the stabilizing control objectives integrate an observation model to the ROV's local and global velocities. We prove that the ROV is asymptotically stable at the equilibrium. The effectiveness of these results are shown in simulation.
2014 13th International Conference on Control Automation Robotics & Vision (ICARCV), 2014
This paper addresses the problem of stabilizing and trajectory tracking control of a remotely ope... more This paper addresses the problem of stabilizing and trajectory tracking control of a remotely operated vehicle (ROV-Observer) in the vertical plane. The underwater vehicle is not actuated in the pitch direction and cannot be locally asymptotically stabilized by continuous feedbacks which are functions of the state only. In the present note, exponential convergence is obtained by considering time-varying feedbacks which are only continuous. Furthermore, using the backstepping technique and the tracking error dynamics, the system states are stabilized by forcing the tracking errors to an arbitrarily small neighborhood of zero.
Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, 2014
This paper presents a method to design an observer-based controller that simultaneously solves gl... more This paper presents a method to design an observer-based controller that simultaneously solves global estimation of state and asymptotic stabilization of an underactuated remotely operated vehicle moving in the in three-dimensional. The vehicle does not have a sway and roll actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method for nonlinear system.
Ocean Engineering, 2016
This paper addresses the stabilizing control problem of a Remotely Operated Vehicle (ROV) expecte... more This paper addresses the stabilizing control problem of a Remotely Operated Vehicle (ROV) expected for observation tasks in depth sea and marine archeology sites inspections. A stabilizing image must be ensured throughout the ROV's motion. From the kino-dynamic model we prove that the ROV fails Brockett's necessary condition. Consequently, the equilibrium cannot be stabilized using continuous pure state feedback laws. As an alternative, a continuous time-varying feedback law is proposed. In addition to basic simulation results, a human-scale visualization integrating a 3D aquatic pool environment and the ROV's 3D CAD model is introduced. The stability results imply the effectiveness of the proposed stabilizing control law.
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Papers by adel khadhraoui