Publicaciones

• Article dans une revue

A New Model-Free Shared Control for Lane-Keeping Assist System: Theory and Experimental Validation

Hossam Eddine Glida, Mohamed Radjeb Oudainia, Chouki Sentouh, Jean-Christophe C Popieul

<div><p>This work presents a novel model-free approach for lateral lane-keeping assist (LKA) shared control design for steerby-wire road vehicles. By integrating the Time Delay Estimation (TDE) approach combined with Radial Basis Function Neural Networks (RBFNN), the proposed method...

IEEE Transactions on Intelligent Vehicles, 2024, pp.1-11. ⟨10.1109/TIV.2024.3445176⟩. ⟨hal-05325227⟩

• Article dans une revue

Decoupling-Based LPV Observer for Driver Torque Intervention Estimation in Human–Machine Shared Driving Under Uncertain Vehicle Dynamics

Anh-Tu Nguyen, Thierry-Marie Guerra, Chouki Sentouh, Jean-Christophe Popieul

This paper proposes a method for simultaneous estimation of both the driver torque and the sideslip angle within the context of human-machine shared driving control for autonomous ground vehicles. To this end, the driver torque is considered as an unknown input (UI) and the sideslip angle is an...

IEEE Transactions on Automation Science and Engineering, In press, ⟨10.1109/TASE.2024.3394240⟩. ⟨hal-04565275⟩

• Communication dans un congrès

Analyse biomécanique de la propulsion en fauteuil roulant manuel lors de la locomotion sur des pentes dans un environnement simulé

Louise Demestre, Amel Ait Ghezala, Théo Rouvier, Thierry Poulain, Gérald Conreur, Joseph Bascou, Hélène Pillet, Chouki Sentouh, Charles Pontonnier, Christophe Sauret

Conférence Handicap 2024, Jun 2024, Paris, France. ⟨hal-04550571⟩

• Article dans une revue

Optimal Model-Free Finite-Time Control Based on Terminal Sliding Mode for a Coaxial Rotor

Hossam Eddine Glida, Chouki Sentouh, Jagat Jyoti Rath

This study focuses on addressing the tracking control problem for a coaxial unmanned aerial vehicle (UAV) without any prior knowledge of its dynamic model. To overcome the limitations of model-based control, a model-free approach based on terminal sliding mode control is proposed for achieving...

Drones, 2023, 7 (12), pp.706. ⟨10.3390/drones7120706⟩. ⟨hal-04390408⟩

• Article dans une revue

Adaptive Cost Function-Based Shared Driving Control for Cooperative Lane-Keeping Systems With User-Test Experiments

Mohamed Radjeb Oudainia, Chouki Sentouh, Anh-Tu Nguyen, Jean-Christophe Popieul

This paper presents a new shared control method with a dynamic driver-automation conflict management for cooperative lane keeping systems (LKS) of automated vehicles. Based on a human-centered control approach, the proposed shared control design takes into account the driver's activity and...

IEEE Transactions on Intelligent Vehicles, 2023, pp.1-11. ⟨10.1109/TIV.2023.3317979⟩. ⟨hal-04261249⟩

• Communication dans un congrès

Driver model using fuzzy logic for virtual validation

Daniel Cisneros Lombera, Boussaad Soualmi, Chouki Sentouh, Jean-Christophe Popieul

Currently, the automotive industry has been adopting new validation methods for its processes during the development and test phases of new technologies. As part of this, the intention of reducing time and costs of physical tests, achieving the reduction of material and human risks. However, this...

International Conference on Intelligent Traffic and Transportation (ICITT), Sep 2023, Madrid, Spain. ⟨hal-04238450⟩

• Communication dans un congrès

Haptic Wheelchair Simulator: Design with Experimental Validation

Amel Ait Ghezala, Chouki Sentouh, Philippe Pudlo, Gérald Conreur, Thierry Poulain

Wheelchair accessibility is still not assured for many manual wheelchair (MWC) users, due to inadequate urban construction, but also due to the biomechanical capacities issue of MWC users. Therefore, there is a great potential in the development of technologies to address this problem, one of them...

Driving Simulation Conference Europe 2023 VR, Sep 2023, Antibes (06), France. ⟨hal-04631738⟩

• Communication dans un congrès

Multi-Sensors Fault Detection and Isolation for Cooperative Control in Highway Merging

Samah Kahouadji, Chouki Sentouh, Cindy Cappelle, Jean-Christophe Popieul, Maan El Badaoui El Najjar

This paper proposes a fault tolerant highway insertion management approach for Automative Driving (AD) system. The principle is as follows: the AD system in the ego vehicle (vehicle in the main lane) proposes an insertion decision to the merging vehicle based on the comparison between: i) the...

9th International Conference on Control, Decision and Information Technologies (CoDIT), Jul 2023, Rome, Italy. pp.1601-1606, ⟨10.1109/CoDIT58514.2023.10284191⟩. ⟨hal-04274696⟩

• Communication dans un congrès

Haptic Interface Design for a Novel Wheelchair Simulator using Linear Time-Varying MPC Framework

A. Ait-Ghezala, C. Sentouh, T. Bentaleb, P. Pudlo, T. Poulain, G. Conreur

This paper deals with the design of a new haptic interface to drive a wheelchair locomotion simulator in real-time. The proposed haptic interface considers a reference model of a manual wheelchair (MWC) with a coupled straight line, turn and slope/cross-slope dynamics. This model allows both to...

2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jun 2023, Seattle (USA), Washington, United States. pp.172-178, ⟨10.1109/AIM46323.2023.10196197⟩. ⟨hal-04481276⟩

• Article dans une revue

Lateral shared sliding mode control for lane-keeping assist system in steer-by-wire vehicles: Theory and experiments

Gabriele Perozzi, Jagat Jyoti Rath, Chouki Sentouh, Jérôme Floris, Jean-Christophe Popieul

The lane-keeping assistance design for steer-by-wire road vehicles is a multi-objective control problem that addresses lane tracking, improvement of driver comfort and ensuring vehicle stability. The designed architecture must be sensitive to various driver behaviors, provide assistance to drivers...

IEEE Transactions on Intelligent Vehicles, 2023, 8 (4), pp. 3073-3082. ⟨10.1109/TIV.2021.3097352⟩. ⟨hal-03424584⟩