This page has only limited features, please log in for full access.
Maarouf Saad received his B.S. and M.S. degrees from École Polytechnique de Montreal, Montreal, QC, Canada, in 1982 and 1984, respectively, and his Ph.D. degree from McGill University, Montreal, QC, Canada, in 1988, all in electrical engineering. In 1987, he joined the École de Technologie Supérieure, Montreal, where he currently teaches control theory and robotics courses. His research focuses on nonlinear control and optimization applied to robotics and flight control systems.
In this manuscript, a new robust nonsingular fast terminal second-order sliding mode based on input/output feedback linearization is developed for high precision joint position tracking of robotic manipulators subject to perturbations and unknown dynamics. The proposed approach reduces chattering, eliminates the problem of singularity in classical terminal sliding mode and allows fast convergence during the so-called sliding phase, which is suitable for real robot applications. Moreover, since a simple linear equivalent system is derived using feedback linearization, the design procedure doesn’t require anymore the computation of the time derivative of the dynamics. Thus, the real-time implementation is simplified, and the control torque inputs that are fed into the system will not be risky for the controlled system. Simulation and experimental results are respectively conducted on a two rigid arm robot and on an industrial 7-DOF robot arm to demonstrate the effectiveness of the developed control scheme, its simplicity and superiority over other nonlinear controller based on second-order sliding mode.
Yassine Kali; Maarouf Saad; Khalid Benjelloun. Nonsingular fast terminal second-order sliding mode for robotic manipulators based on feedback linearization. International Journal of Dynamics and Control 2021, 1 -10.
AMA StyleYassine Kali, Maarouf Saad, Khalid Benjelloun. Nonsingular fast terminal second-order sliding mode for robotic manipulators based on feedback linearization. International Journal of Dynamics and Control. 2021; ():1-10.
Chicago/Turabian StyleYassine Kali; Maarouf Saad; Khalid Benjelloun. 2021. "Nonsingular fast terminal second-order sliding mode for robotic manipulators based on feedback linearization." International Journal of Dynamics and Control , no. : 1-10.
In this paper, a data mining based methodology for process identification from historical data was proposed. Thereon, it considers the phases of process understanding, data collection, data preparation, data modeling, and model evaluation. As some parts of historical data are irrelevant, a data selection step, based on the Gaussian Mixture Model (GMM) clustering algorithm, was considered. Additionally, the methodology includes a data informativity step to study the richness of data. In this regard, the condition number (CN) and the extended CN for ridge regression (RR CN) were used. To evaluate the approach, 2 years of industrial thickener historical data were used. Thereafter, data were prepared and an ARX (Auto-Regressive with eXogenous inputs) model structure was adopted to identify the model. To estimate input delays, Granger causality was used. As for fit criteria, least square regression was tested and compared to ridge regression as a less sensitive method to multicollinearity. The results were then evaluated based on the 20-step ahead prediction and compared to existing methods. In this context, the proposed approach gave the best results with an R2 of 98.11% and 62.70% for 1 and 20-step ahead predictions, respectively.
Ridouane Oulhiq; Khalid Benjelloun; Yassine Kali; Maarouf Saad. A data mining based approach for process identification using historical data. International Journal of Modelling and Simulation 2021, 1 -15.
AMA StyleRidouane Oulhiq, Khalid Benjelloun, Yassine Kali, Maarouf Saad. A data mining based approach for process identification using historical data. International Journal of Modelling and Simulation. 2021; ():1-15.
Chicago/Turabian StyleRidouane Oulhiq; Khalid Benjelloun; Yassine Kali; Maarouf Saad. 2021. "A data mining based approach for process identification using historical data." International Journal of Modelling and Simulation , no. : 1-15.
In this manuscript, the high-accuracy stator currents tracking issue is considered for a six-phase induction motor subject to external perturbations and uncertainties due to unmeasurable rotor currents and electrical parameter variations. To achieve the control goals, the common two-cascade controllers structure is required for this type of motor. The first controller in the outer loop consists of a proportional integral to regulate the speed. Then, the second is the proposed inner nonlinear stator currents controller based on a robust discrete-time terminal super-twisting algorithm supported by the time-delay estimation method. For the design procedure, the discrete-time stator currents dynamics are derived; for example, the vector of the matched perturbations and unmeasurable rotor currents are specified to simplify the estimation. A detailed stability analysis of the closed-loop error dynamics using Lyapunov theory is given. Finally, a real asymmetrical six-phase induction motor is used to implement in real-time the developed method and to illustrate its effectiveness and robustness. The results obtained reveal a satisfactory stator currents tracking in steady state and transient conditions and under variation in the magnetizing inductance. Moreover, a comparative study with an existing method in steady state for two different rotor speeds is presented to show the superiority of the proposed discrete-time technique.
Yassine Kali; Maarouf Saad; Jesus Doval-Gandoy; Jorge Rodas. Discrete Terminal Super-Twisting Current Control of a Six-Phase Induction Motor. Energies 2021, 14, 1339 .
AMA StyleYassine Kali, Maarouf Saad, Jesus Doval-Gandoy, Jorge Rodas. Discrete Terminal Super-Twisting Current Control of a Six-Phase Induction Motor. Energies. 2021; 14 (5):1339.
Chicago/Turabian StyleYassine Kali; Maarouf Saad; Jesus Doval-Gandoy; Jorge Rodas. 2021. "Discrete Terminal Super-Twisting Current Control of a Six-Phase Induction Motor." Energies 14, no. 5: 1339.
This paper presents the design and validation of a new adaptive variable gain reaching law, integrated with sliding mode control (SMC), to control perturbed and unperturbed nonlinear systems. The novelty behind this law stems from its capability to overcome the main limitations involved with SMC. In contrast to existing reaching laws, system’s performance can be substantially enhanced via this law, with significant reduction in the chattering phenomenon, along ensuring rapid convergence time of system’s trajectories towards equilibrium. The designed law not only integrates the features of both the exponential reaching law (ERL) and the power rate reaching law (PRL), but also overcomes their limitations. Simulation and comparison studies against ERL and PRL were carried out to validate the effectiveness and advantages of the proposed reaching law scheme (Proposed-RL). Furthermore, controlled experimental investigations were conducted using an exoskeleton robot (ETS-MARSE) to validate the scheme in real-time.
Brahim Brahmi; Ibrahim El Bojairami; Maarouf Saad; Mark Driscoll; Samir Zemam; Mohamed Hamza Laraki. Enhancement of Sliding Mode Control Performance for Perturbed and Unperturbed Nonlinear Systems: Theory and Experimentation on Rehabilitation Robot. Journal of Electrical Engineering & Technology 2020, 16, 599 -616.
AMA StyleBrahim Brahmi, Ibrahim El Bojairami, Maarouf Saad, Mark Driscoll, Samir Zemam, Mohamed Hamza Laraki. Enhancement of Sliding Mode Control Performance for Perturbed and Unperturbed Nonlinear Systems: Theory and Experimentation on Rehabilitation Robot. Journal of Electrical Engineering & Technology. 2020; 16 (1):599-616.
Chicago/Turabian StyleBrahim Brahmi; Ibrahim El Bojairami; Maarouf Saad; Mark Driscoll; Samir Zemam; Mohamed Hamza Laraki. 2020. "Enhancement of Sliding Mode Control Performance for Perturbed and Unperturbed Nonlinear Systems: Theory and Experimentation on Rehabilitation Robot." Journal of Electrical Engineering & Technology 16, no. 1: 599-616.
Yassine Kali; Maarouf Saad; Jean-François Boland; Jonathan Fortin; Vincent Girardeau. Walking task space control using time delay estimation based sliding mode of position Controlled NAO biped robot. International Journal of Dynamics and Control 2020, 9, 679 -688.
AMA StyleYassine Kali, Maarouf Saad, Jean-François Boland, Jonathan Fortin, Vincent Girardeau. Walking task space control using time delay estimation based sliding mode of position Controlled NAO biped robot. International Journal of Dynamics and Control. 2020; 9 (2):679-688.
Chicago/Turabian StyleYassine Kali; Maarouf Saad; Jean-François Boland; Jonathan Fortin; Vincent Girardeau. 2020. "Walking task space control using time delay estimation based sliding mode of position Controlled NAO biped robot." International Journal of Dynamics and Control 9, no. 2: 679-688.
In this paper, we present a framework for achieving circular formation of a two-dimensional moving target using a team of underactuated Omni-Directional Intelligent Navigator (ODIN) vehicles. The main goal is to ensure uniform circumnavigation of the moving target with prescribed radius, velocity and inter-vehicle spacing. In the formation, part of vehicle group is capable of obtaining information from the moving target. Distributed adaptive control laws are developed for the group of vehicles by merging the techniques of command filter and backstepping control. A robust controller is designed to compensate for the effect of non-smooth actuator saturation. With the proposed control, the convergence to a circular formation performance can be ensured in a finite time. Finally, numerical simulations are presented to show the effectiveness of the proposed formation scheme.
Jawhar Ghommam; Maarouf Saad; Faisal Mnif. Finite-time circular formation around a moving target with multiple underactuated ODIN vehicles. Mathematics and Computers in Simulation 2020, 180, 230 -250.
AMA StyleJawhar Ghommam, Maarouf Saad, Faisal Mnif. Finite-time circular formation around a moving target with multiple underactuated ODIN vehicles. Mathematics and Computers in Simulation. 2020; 180 ():230-250.
Chicago/Turabian StyleJawhar Ghommam; Maarouf Saad; Faisal Mnif. 2020. "Finite-time circular formation around a moving target with multiple underactuated ODIN vehicles." Mathematics and Computers in Simulation 180, no. : 230-250.
A new adaptive impedance, augmented with backstepping control, time-delay estimation, and a disturbance observer, was designed to perform passive–assistive rehabilitation motion. This was done using a rehabilitation robot whereby humans’ musculoskeletal conditions were considered. This control scheme aimed to mimic the movement behavior of the user and to provide an accurate compensation for uncertainties and torque disturbances. Such disturbances were excited by constraints of input saturation of the robot’s actuators, friction forces and backlash, several payloads of the attached upper-limb of each patient, and time delay errors. The designed impedance control algorithm would transfer the stiffness of the human upper limb to the developed impedance model via the measured user force. In the proposed control scheme, active rejection of disturbances would be achieved through the direct connection between such disturbances from the observer’s output and the control input via the feedforward loop of the system. Furthermore, the computed control input does not require any precise knowledge of the robot’s dynamic model or any knowledge of built-in torque-sensing units to provide the desirable physiotherapy treatment. Experimental investigations performed by two subjects were exhibited to support the benefits of the designed approach.
Brahim Brahmi; Mark Driscoll; Ibrahim K. El Bojairami; Maarouf Saad; Abdelkrim Brahmi. Novel adaptive impedance control for exoskeleton robot for rehabilitation using a nonlinear time-delay disturbance observer. ISA Transactions 2020, 108, 381 -392.
AMA StyleBrahim Brahmi, Mark Driscoll, Ibrahim K. El Bojairami, Maarouf Saad, Abdelkrim Brahmi. Novel adaptive impedance control for exoskeleton robot for rehabilitation using a nonlinear time-delay disturbance observer. ISA Transactions. 2020; 108 ():381-392.
Chicago/Turabian StyleBrahim Brahmi; Mark Driscoll; Ibrahim K. El Bojairami; Maarouf Saad; Abdelkrim Brahmi. 2020. "Novel adaptive impedance control for exoskeleton robot for rehabilitation using a nonlinear time-delay disturbance observer." ISA Transactions 108, no. : 381-392.
In this paper, group formation control with collision avoidance is investigated for heterogeneous multiquadrotor vehicles. Specifically, the distance-based formation and tracking control problem are addressed in the framework of leader-follower architecture. In this scheme, the leader is assigned the task of intercepting a target whose velocity is unknown, while the follower quadrotors are arranged to set up a predefined rigid formation pattern, ensuring simultaneously interagent collision avoidance and relative localization. The adopted strategy for the control design consists in decoupling the quadrotor dynamics in a cascaded structure to handle its underactuated property. Furthermore, by imposing constraints on the orientation angles, the follower will never be overturned. Rigorous stability analysis is presented to prove the stability of the entire closed-loop system. Numerical simulation results are presented to validate the proposed control strategy.
Jawhar Ghommam; Luis F. Luque-Vega; Maarouf Saad. Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions. International Journal of Aerospace Engineering 2020, 2020, 1 -17.
AMA StyleJawhar Ghommam, Luis F. Luque-Vega, Maarouf Saad. Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions. International Journal of Aerospace Engineering. 2020; 2020 ():1-17.
Chicago/Turabian StyleJawhar Ghommam; Luis F. Luque-Vega; Maarouf Saad. 2020. "Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions." International Journal of Aerospace Engineering 2020, no. : 1-17.
In this paper, we address the problem of parcel distribution with Unmanned Aerial Vehicles and propose a new Aerial Transport System (ATS) that uses drone relays to enable effective parcel delivery to its destination. In particular, a leader-follower synchronization technique scheme is presented for drone rendezvous and consists of forcing one drone (leader) to be above the other (follower) for parcel relay. In this scenario, no assumptions on the availability of a dynamic model for the leader drone are made, only its position and attitude are available for feedback to the follower drone. Considering the effect of unknown variation of the parcel load, a finite-time tracking control algorithm via output-feedback is designed for the follower drone while guaranteeing that the input constraints for the drones are satisfied. To conquer the challenge faced with the underactuation property of the drone, a decoupling method is adopted in order to view the drone UAV as a cascade structure of two fully actuated subsystems. A fixed-time sliding mode surface is therefore utilized in the control procedure of the attitude tracking of the drone to cope with the disturbances and model uncertainties. Rigorous theoretical analysis is provided to prove that the tracking error of the closed-loop system converge in a finite time. Simulation results are given to demonstrate the effectiveness of the proposed control strategy.
Jawhar Ghommam; Maarouf Saad; Steve Wright; Quan Min Zhu. Relay manoeuvre based fixed-time synchronized tracking control for UAV transport system. Aerospace Science and Technology 2020, 103, 105887 .
AMA StyleJawhar Ghommam, Maarouf Saad, Steve Wright, Quan Min Zhu. Relay manoeuvre based fixed-time synchronized tracking control for UAV transport system. Aerospace Science and Technology. 2020; 103 ():105887.
Chicago/Turabian StyleJawhar Ghommam; Maarouf Saad; Steve Wright; Quan Min Zhu. 2020. "Relay manoeuvre based fixed-time synchronized tracking control for UAV transport system." Aerospace Science and Technology 103, no. : 105887.
Unmanned aerial vehicles (UAVs) are affordable these days. For that reason, there are currently examples of the use of UAVs in recreational, professional and research applications. Most of the commercial UAVs use Px4 for their operating system. Even though Px4 allows one to change the flight controller structure, the proportional-integral-derivative (PID) format is still by far the most popular choice. A selection of the PID controller parameters is required before the UAV can be used. Although there are guidelines for the design of PID parameters, they do not guarantee the stability of the UAV, which in many cases, leads to collisions involving the UAV during the calibration process. In this paper, an offline tuning procedure based on the multi-objective particle swarm optimization (MOPSO) algorithm for the attitude and altitude control of a Px4-based UAV is proposed. A Pareto dominance concept is used for the MOPSO to find values for the PID comparing parameters of step responses (overshoot, rise time and root-mean-square). Experimental results are provided to validate the proposed tuning procedure by using a quadrotor as a case study.
Victor Gomez; Nicolas Gomez; Jorge Rodas; Enrique Paiva; Maarouf Saad; Raul Gregor. Pareto Optimal PID Tuning for Px4-Based Unmanned Aerial Vehicles by Using a Multi-Objective Particle Swarm Optimization Algorithm. Aerospace 2020, 7, 71 .
AMA StyleVictor Gomez, Nicolas Gomez, Jorge Rodas, Enrique Paiva, Maarouf Saad, Raul Gregor. Pareto Optimal PID Tuning for Px4-Based Unmanned Aerial Vehicles by Using a Multi-Objective Particle Swarm Optimization Algorithm. Aerospace. 2020; 7 (6):71.
Chicago/Turabian StyleVictor Gomez; Nicolas Gomez; Jorge Rodas; Enrique Paiva; Maarouf Saad; Raul Gregor. 2020. "Pareto Optimal PID Tuning for Px4-Based Unmanned Aerial Vehicles by Using a Multi-Objective Particle Swarm Optimization Algorithm." Aerospace 7, no. 6: 71.
In this paper, the problem of high-accuracy stator currents tracking of a six-phase induction motor in the presence of perturbations and unmeasurable rotor currents is tackled. Since the good features offered by sliding mode theory motivate the community of researchers on control, a time delay estimation based discrete-time super-twisting controller is proposed. First of all, an outer loop is performed to regulate the speed and to construct the desired stator currents. Then, the inner loop, based on an indirect rotor field-oriented control, is performed based on the proposed method. The proposed structure allows an accurate and simple estimation of uncertainties and rotor currents, a good tracking, a fast convergence of the currents tracking error to a neighbour of zero. The design procedure and the stability analysis are detailed for the current closed-loop system. Experimental work was carried out on a six-phase induction motor to demonstrate the effectiveness of the developed discrete approach. In addition, the performances obtained are compared to the ones obtained using the discrete-time sliding mode with time delay estimation. The results obtained highlighted the satisfactory stator currents tracking performance in steady-state and transient conditions and under different sampling times, parameters mismatch and with load and no-load conditions.
Yassine Kali; Magno Ayala; Jorge Rodas; Maarouf Saad; Jesus Doval-Gandoy; Raul Gregor; Khalid Benjelloun. Time Delay Estimation Based Discrete-Time Super-Twisting Current Control for a Six-Phase Induction Motor. IEEE Transactions on Power Electronics 2020, 35, 12570 -12580.
AMA StyleYassine Kali, Magno Ayala, Jorge Rodas, Maarouf Saad, Jesus Doval-Gandoy, Raul Gregor, Khalid Benjelloun. Time Delay Estimation Based Discrete-Time Super-Twisting Current Control for a Six-Phase Induction Motor. IEEE Transactions on Power Electronics. 2020; 35 (11):12570-12580.
Chicago/Turabian StyleYassine Kali; Magno Ayala; Jorge Rodas; Maarouf Saad; Jesus Doval-Gandoy; Raul Gregor; Khalid Benjelloun. 2020. "Time Delay Estimation Based Discrete-Time Super-Twisting Current Control for a Six-Phase Induction Motor." IEEE Transactions on Power Electronics 35, no. 11: 12570-12580.
The incorporation of distributed generation (DG) units in distribution network voltage control may create operational conflicts with other conventional voltage control devices. Structural changes of networks can also increase the possibility to create control interactions. Control rules-based voltage control methods are not suitable for large scale networks where large number of control choices are available. Similarly, optimization-based voltage control methods are impractical to implement since many control variables have to be used to obtain the optimal solution. Therefore in this paper, a new technique for choosing a global group of the most effective control variables considering the ones with low cost is proposed for voltage regulation in distribution networks. This technique is based on the concept of electrical distances between the voltage control devices and network nodes to derive a correction index (CI). The index represents the level of effectiveness of each control variable with respect to all violated voltages. The index is implemented in two phase algorithms (top-down and bottom-up) to identify the global group of control variables. The proposed technique takes into consideration five aspects: the effectiveness, availability, and cost of the control variables as well as the structural changes of networks and the coordination between control variables to simultaneously eliminate the violation in the voltages. The technique is fast and suitable to be implemented for online voltage control. The proposed method is successfully examined on the modified IEEE 123 distribution system under different scenarios.
Khaled Alzaareer; Maarouf Saad; Hasan Mehrjerdi; Dalal Asber; Serge Lefebvre. Development of New Identification Method for Global Group of Controls for Online Coordinated Voltage Control in Active Distribution Networks. IEEE Transactions on Smart Grid 2020, 11, 3921 -3931.
AMA StyleKhaled Alzaareer, Maarouf Saad, Hasan Mehrjerdi, Dalal Asber, Serge Lefebvre. Development of New Identification Method for Global Group of Controls for Online Coordinated Voltage Control in Active Distribution Networks. IEEE Transactions on Smart Grid. 2020; 11 (5):3921-3931.
Chicago/Turabian StyleKhaled Alzaareer; Maarouf Saad; Hasan Mehrjerdi; Dalal Asber; Serge Lefebvre. 2020. "Development of New Identification Method for Global Group of Controls for Online Coordinated Voltage Control in Active Distribution Networks." IEEE Transactions on Smart Grid 11, no. 5: 3921-3931.
This paper deals with control of a standalone microgrid based on variable speed wind turbine (WT) and fixed speed diesel generators for water treatment application. A Perturb and Observe (P&O) method is used to achieve the Maximum Power Point Tracking (MPPT) from WT without using speed sensors. Two levels of control are proposed for the three-phase voltage source inverter for voltage and frequency regulation at the Point of Common Coupling (PCC) and power management in standalone and diesel connected modes. Furthermore, the battery energy storage is controlled using simple approach to balance the power in the system during load variation and wind speed change. The performance of the proposed system is tested using Matlab/Simulink under load and weather variation. In addition, the system is tested on a small-scale prototype in the laboratory under load and wind speed variations.
Felix Dubuisson; Miloud Rezkallah; Ambrish Chandra; Maarouf Saad; Marco Tremblay; Hussein Ibrahim. Control of Hybrid Wind–Diesel Standalone Microgrid for Water Treatment System Application. IEEE Transactions on Industry Applications 2019, 55, 6499 -6507.
AMA StyleFelix Dubuisson, Miloud Rezkallah, Ambrish Chandra, Maarouf Saad, Marco Tremblay, Hussein Ibrahim. Control of Hybrid Wind–Diesel Standalone Microgrid for Water Treatment System Application. IEEE Transactions on Industry Applications. 2019; 55 (6):6499-6507.
Chicago/Turabian StyleFelix Dubuisson; Miloud Rezkallah; Ambrish Chandra; Maarouf Saad; Marco Tremblay; Hussein Ibrahim. 2019. "Control of Hybrid Wind–Diesel Standalone Microgrid for Water Treatment System Application." IEEE Transactions on Industry Applications 55, no. 6: 6499-6507.
Rehabilitation robots have become an influential tool in physical therapy treatment since they are able to provide an intensive rehabilitation treatment for a long period of time. However, this technology still suffers from various problems such as dynamics uncertainties, external disturbances, and human-robot interaction. In this paper, we present a new integral second-order terminal sliding mode control incorporating quasi-time delay estimation (Q-TDE) applied to an exoskeleton robot with dynamics uncertainties and unknown bounded disturbances. Unlike the conventional TDE approach, the proposed Q-TDE uses delayed one step only of the control input of the system to approximate the uncertain dynamics while avoiding the delays on all states of the system. The proposed controller aims to perform passive and active rehabilitation protocols without the need for velocity and acceleration measurements of the robot system. A finite time of both selected sliding surface and estimation error simultaneous is achieved using an appropriate Lyapunov function. Experimental results with healthy subjects found using a virtual reality environment confirm the effectiveness of the proposed control.
Brahim Brahmi; Maarouf Saad; Mohammad H. Rahman; Abdelkrim Brahmi. Adaptive Force and Position Control Based on Quasi-Time Delay Estimation of Exoskeleton Robot for Rehabilitation. IEEE Transactions on Control Systems Technology 2019, 28, 2152 -2163.
AMA StyleBrahim Brahmi, Maarouf Saad, Mohammad H. Rahman, Abdelkrim Brahmi. Adaptive Force and Position Control Based on Quasi-Time Delay Estimation of Exoskeleton Robot for Rehabilitation. IEEE Transactions on Control Systems Technology. 2019; 28 (6):2152-2163.
Chicago/Turabian StyleBrahim Brahmi; Maarouf Saad; Mohammad H. Rahman; Abdelkrim Brahmi. 2019. "Adaptive Force and Position Control Based on Quasi-Time Delay Estimation of Exoskeleton Robot for Rehabilitation." IEEE Transactions on Control Systems Technology 28, no. 6: 2152-2163.
In this paper, a comprehensive controller of a standalone microgrid is implemented, which has three dispersed generation units based on a wind, solar photovoltaic (PV) array, and a diesel generator (DG). The power ratio variable step perturb and observe method is applied to achieve maximum power point tracking of a solar PV array and a variable speed wind turbine coupled a permanent magnet brushless dc generator without rotor/wind speed sensors. Moreover, to ensure perfect synchronization of a DG to the point of common coupling (PCC), a control algorithm is developed, which is based on in-phase and quadrature units. An active power control based on proportional–integral controller with anti-windup, is used for voltage and frequency regulation. The LCL filter based on virtual resistor, is used for power quality improvement at PCC. Simulation and test results are presented for the validation of the proposed system using a prototype of 2 kW in the laboratory.
Miloud Rezkallah; Sanjeev Singh; Ambrish Chandra; Bhim Singh; Marco Tremblay; Maarouf Saad; Hua Geng. Comprehensive Controller Implementation for Wind-PV-Diesel Based Standalone Microgrid. IEEE Transactions on Industry Applications 2019, 55, 5416 -5428.
AMA StyleMiloud Rezkallah, Sanjeev Singh, Ambrish Chandra, Bhim Singh, Marco Tremblay, Maarouf Saad, Hua Geng. Comprehensive Controller Implementation for Wind-PV-Diesel Based Standalone Microgrid. IEEE Transactions on Industry Applications. 2019; 55 (5):5416-5428.
Chicago/Turabian StyleMiloud Rezkallah; Sanjeev Singh; Ambrish Chandra; Bhim Singh; Marco Tremblay; Maarouf Saad; Hua Geng. 2019. "Comprehensive Controller Implementation for Wind-PV-Diesel Based Standalone Microgrid." IEEE Transactions on Industry Applications 55, no. 5: 5416-5428.
SummaryTrajectory tracking of a mobile manipulator in the Cartesian space based on decentralized control is considered in this paper. The dynamic model is first rearranged to take the form of two interconnected subsystems with constraint flow, namely, a nonholonomic mobile platform subsystem and a holonomic manipulator subsystem. Secondly, using the inverse kinematics, the workspace desired trajectory of the mobile manipulator is transformed to the manipulator joint space as well as the platform desired trajectory. The kinematic control is developed from the desired trajectory of the platform. Then, the desired velocity is derived using the kinematic controller of the mobile platform, after which the velocity is used to obtain the control law of the mobile platform subsystem. Thirdly, the control law of the manipulator subsystem is developed based on the desired and real values of the manipulator, as well as the desired velocity. According to the Lyapunov stability theory, the proposed decentralized control strategy guarantees the global stability of the closed-loop system, and the tracking errors are bounded. Experimental results obtained on a 3-DOF manipulator mounted on a mobile platform are given to demonstrate the feasibility and effectiveness of the proposed approach. This is confirmed by a comparison with the computed torque approach.
Raouf Fareh; Mohamad R. Saad; Maarouf Saad; Abdelkrim Brahmi; Maamar Bettayeb. Trajectory Tracking and Stability Analysis for Mobile Manipulators Based on Decentralized Control. Robotica 2019, 37, 1732 -1749.
AMA StyleRaouf Fareh, Mohamad R. Saad, Maarouf Saad, Abdelkrim Brahmi, Maamar Bettayeb. Trajectory Tracking and Stability Analysis for Mobile Manipulators Based on Decentralized Control. Robotica. 2019; 37 (10):1732-1749.
Chicago/Turabian StyleRaouf Fareh; Mohamad R. Saad; Maarouf Saad; Abdelkrim Brahmi; Maamar Bettayeb. 2019. "Trajectory Tracking and Stability Analysis for Mobile Manipulators Based on Decentralized Control." Robotica 37, no. 10: 1732-1749.
A robust nonlinear backstepping technique with Lagrange’s extrapolation and PI compensator is proposed in this chapter for high accuracy trajectory tracking of robot manipulators with uncertain dynamics and unexpeted disturbances. The proposed controller is synthesized by using Lagrangian extrapolation method with PI compensator to estimate the uncertainties and disturbances and to deal with the effect of hard nonlinearities caused by the estimation error while nonlinear backstepping technique is used to ensure good tracking. The stability analysis is accomplished recursively using appropriate Lyapunov functions candidate. As a result, the proposed control technique shows better performances via experimental results on a 7-DOF robot arm in comparison with the classical backstepping and sliding mode control.
Yassine Kali; Maarouf Saad; Jean-Pierre Kenné; Khalid Benjelloun. Robot Manipulator Control Using Backstepping with Lagrange’s Extrapolation and PI Compensator. Developments in Advanced Control and Intelligent Automation for Complex Systems 2019, 137 -161.
AMA StyleYassine Kali, Maarouf Saad, Jean-Pierre Kenné, Khalid Benjelloun. Robot Manipulator Control Using Backstepping with Lagrange’s Extrapolation and PI Compensator. Developments in Advanced Control and Intelligent Automation for Complex Systems. 2019; ():137-161.
Chicago/Turabian StyleYassine Kali; Maarouf Saad; Jean-Pierre Kenné; Khalid Benjelloun. 2019. "Robot Manipulator Control Using Backstepping with Lagrange’s Extrapolation and PI Compensator." Developments in Advanced Control and Intelligent Automation for Complex Systems , no. : 137-161.
In this paper, a robust three dimensional output feedback control problem is proposed for a 6-degrees-of-freedom model of a quadrotor unmanned aerial vehicle (UAV) to track a bounded and sufficiently smooth reference trajectory in the presence of slowly varying force disturbances. Due to the underactuation structure of the UAV, a nonlinear output feedback controller based on the robust integral of the sign error signal (RISE) mechanism is first designed for the translational dynamics to ensure position reference tracking without velocity measurement. The angular velocity is then regarded as intermediate control signal for the rotational dynamics to fulfill the task of attitude angle reference tracking. The torque input is designed taking full advantage of the smooth exact differentiator that circumvents derivatives computation of virtual controls, the backstepping technique is then judiciously modified to allow the use of the RISE control technique to compensate for the external disturbances. The proposed controller yields semi-global asymptotic stability tracking despite the added disturbances in the dynamics. Simulation results are shown to demonstrate the proposed approach.
Jawhar Ghommam; Luis F. Luque-Vega; Maarouf Saad. Backstepping-Based Nonlinear RISE Feedback Control for an Underactuated Quadrotor UAV Without Linear Velocity Measurements. Developments in Advanced Control and Intelligent Automation for Complex Systems 2019, 321 -342.
AMA StyleJawhar Ghommam, Luis F. Luque-Vega, Maarouf Saad. Backstepping-Based Nonlinear RISE Feedback Control for an Underactuated Quadrotor UAV Without Linear Velocity Measurements. Developments in Advanced Control and Intelligent Automation for Complex Systems. 2019; ():321-342.
Chicago/Turabian StyleJawhar Ghommam; Luis F. Luque-Vega; Maarouf Saad. 2019. "Backstepping-Based Nonlinear RISE Feedback Control for an Underactuated Quadrotor UAV Without Linear Velocity Measurements." Developments in Advanced Control and Intelligent Automation for Complex Systems , no. : 321-342.
This paper proposes a robust nonlinear current controller that deals with the problem of the stator current control of a six-phase induction motor drive. The current control is performed by using a state-space representation of the system, explicitly considering the unmeasurable states, uncertainties and external disturbances. To estimate these latter effectively, a time delay estimation technique is used. The proposed control architecture consists of inner and outer loops. The inner current control loop is based on a robust discrete-time sliding mode controller combined with a time delay estimation method. As said before, the objective of the time delay estimation is to reconstruct the unmeasurable states and uncertainties, while the sliding mode aims is to suppress the estimation error, to ensure robustness and finite-time convergence of the stator currents to their desired references. The outer loop is based on a proportional-integral controller to control the speed. The stability of the current closed-loop system is proven by establishing sufficient conditions on the switching gains. Experimental work has been conducted to verify the performance and the effectiveness of the proposed robust control scheme for a six-phase induction motor drive. The results obtained have shown that the proposed method allows good performances in terms of current tracking, in their corresponding planes.
Yassine Kali; Magno Ayala; Jorge Rodas; Maarouf Saad; Jesus Doval-Gandoy; Raul Gregor; Khalid Benjelloun. Current Control of a Six-Phase Induction Machine Drive Based on Discrete-Time Sliding Mode with Time Delay Estimation. Energies 2019, 12, 170 .
AMA StyleYassine Kali, Magno Ayala, Jorge Rodas, Maarouf Saad, Jesus Doval-Gandoy, Raul Gregor, Khalid Benjelloun. Current Control of a Six-Phase Induction Machine Drive Based on Discrete-Time Sliding Mode with Time Delay Estimation. Energies. 2019; 12 (1):170.
Chicago/Turabian StyleYassine Kali; Magno Ayala; Jorge Rodas; Maarouf Saad; Jesus Doval-Gandoy; Raul Gregor; Khalid Benjelloun. 2019. "Current Control of a Six-Phase Induction Machine Drive Based on Discrete-Time Sliding Mode with Time Delay Estimation." Energies 12, no. 1: 170.
This article addresses the coordinated longitudinal and lateral motion control for an intelligent vehicle highway system. The strategy of this work consists of defining the edges of the traveled lane using a vision sensor. According to the detected boundaries, a constrained path-following method is proposed to drive the longitudinal and the lateral vehicle’s motion. Error constraints of the intelligent vehicle highway system position are manipulated by including the function of barrier Lyapunov in designing the guidance algorithm for the intelligent vehicle highway system. To calculate the necessary forces that would steer the vehicle to the desired path, a control design is proposed that integrates the sign of the error for the compensation of the uncertain vehicle’s parameters. The Lyapunov function is later used to minimize the path-following errors and to guarantee a stable system. The efficiency of the developed approach is proved by numerical simulations.
Kawther Osman; Jawhar Ghommam; Hasan Mehrjerdi; Maarouf Saad. Vision-based curved lane keeping control for intelligent vehicle highway system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 2018, 233, 961 -979.
AMA StyleKawther Osman, Jawhar Ghommam, Hasan Mehrjerdi, Maarouf Saad. Vision-based curved lane keeping control for intelligent vehicle highway system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 2018; 233 (8):961-979.
Chicago/Turabian StyleKawther Osman; Jawhar Ghommam; Hasan Mehrjerdi; Maarouf Saad. 2018. "Vision-based curved lane keeping control for intelligent vehicle highway system." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 233, no. 8: 961-979.