Publicaciones

• Article dans une revue

Fuzzy Static Output Feedback Control for Path Following of Autonomous Vehicles With Transient Performance Improvements

Tran Anh-Tu Nguyen, Chouki Sentouh, Hui Zhang, Jean-Christophe Popieul

This paper provides a new solution for path following control of autonomous ground vehicles. H 2 control problem is considered to attenuate the effect of the road curvature disturbance. To this end, we formulate a standard model from the road-vehicle dynamics, the a priori knowledge on the road...

IEEE Transactions on Intelligent Transportation Systems, 2020, 21 (7), pp.3069-3079. ⟨10.1109/TITS.2019.2924705⟩. ⟨hal-03468394⟩

• Article dans une revue

Optimal model-free backstepping control for a quadrotor helicopter

Hossam Eddine Glida, Latifa Abdou, Abdelghani Chelihi, Chouki Sentouh, Seif-El-Islam Hasseni

This paper proposes a design of a direct optimal control for a class of multi-input–multi-output (MIMO) nonlinear systems. This work focuses on the design of optimal model-free backstepping controller for a MIMO quadrotor helicopter perturbed by unknown external disturbances. The proposed method...

Nonlinear Dynamics, 2020, 100 (4), pp.3449-3468. ⟨10.1007/s11071-020-05671-x⟩. ⟨hal-03424362⟩

• Communication dans un congrès

Disturbance Observer-based Optimal Backstepping Controller for an Attitude Quadrotor Helicopter

Hossam Eddine Glida, Abdelghani Chelihi, Latifa Abdou, Chouki Sentouh

This paper proposes an optimal backstepping control-based bat algorithm (BA-OBC) scheme for the attitude of unmanned aerial vehicle with disturbance observer. The proposed controller offers an interesting designed strategy allowing the state trajectory to track a desired trajectory with disturbance...

2020 1st International Conference on Communications, Control Systems and Signal Processing (CCSSP), Mar 2020, EL OUED, Algeria. pp.422-427, ⟨10.1109/CCSSP49278.2020.9151520⟩. ⟨hal-03406077⟩

• Article dans une revue

Output-Constrained Robust Sliding Mode Based Nonlinear Active Suspension Control

Jagat Jyoti Rath, Michael Defoort, Chouki Sentouh, Hamid Reza Karimi, Kalyana Chakravarthy Veluvolu

The nonlinear active suspension control design can be analyzed as a multiobjective control problem that caters to the enhancement in ride comfort levels while ensuring that road holding is maintained with the constrained suspension displacement movement. In this article, a robust constrained output...

IEEE Transactions on Industrial Electronics, 2020, 67 (12), pp.10652-10662. ⟨10.1109/TIE.2020.2978693⟩. ⟨hal-03423790⟩

• Article dans une revue

Unknown Input Observers for Simultaneous Estimation of Vehicle Dynamics and Driver Torque: Theoretical Design and Hardware Experiments

Tran Anh-Tu Nguyen, Thierry-Marie Guerra, Chouki Sentouh, Hui Zhang

This article investigates a new observer design method to estimate simultaneously both the vehicle dynamics and the unknown driver's torque. To take into account the time-varying nature of the longitudinal speed, the vehicle system is transformed into a polytopic linear parameter-varying (LPV...

IEEE/ASME Transactions on Mechatronics, 2019, 24 (6), pp.2508-2518. ⟨10.1109/TMECH.2019.2933744⟩. ⟨hal-03644265⟩

• Article dans une revue

Cooperative Trajectory Planning for Haptic Shared Control Between Driver and Automation in Highway Driving

Mohamed Amir Benloucif, Tran Anh-Tu Nguyen, Chouki Sentouh, Jean-Christophe Popieul

This paper addresses the driver-automation shared driving control for lane keeping and obstacle avoidance of automated vehicles in highway traffic. The proposed shared control framework is established from a novel cooperative trajectory planning algorithm and a fuzzy steering controller. Based on...

IEEE Transactions on Industrial Electronics, 2019, 66 (12), pp.9846-9857. ⟨10.1109/TIE.2019.2893864⟩. ⟨hal-03644237⟩

• Communication dans un congrès

Optimal Direct Adaptive Fuzzy Controller based on Bat Algorithm for UAV Quadrotor

Hossam Eddine Glida, Latifa Abdou, Abdelghani Chelihi, Chouki Sentouh

An optimal direct robust adaptive fuzzy controller (ODAFC) for a quadrotor system using bat algorithm (BA) is presented in this paper. The concept of this approach is to decouple the entire system into four single-input single-output (SISO) subsystems. Then, a Mamdani-type fuzzy adaptive controller...

2019 8th International Conference on Systems and Control (ICSC), Oct 2019, Marrakesh, Morocco. pp.52-57, ⟨10.1109/ICSC47195.2019.8950585⟩. ⟨hal-03406797⟩

• Communication dans un congrès

A Real-Time Multi-Objective Predictive Control Strategy for Wheelchair Ergometer Platform

Toufik Bentaleb, Viet Thuan Nguyen, Chouki Sentouh, Gérald Conreur, Thierry Poulain, Philippe Pudlo

This paper describes a real-time multi-objective predictive control strategy for the wheelchair ergometer platform, which allows simulating the manual wheelchair (MWC) propulsion in virtual reality (VR). A nonlinear least-square method is used to build the predictive wheelchair ergometer model,...

2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), Oct 2019, Bari, Italy. pp.2397-2404, ⟨10.1109/SMC.2019.8914220⟩. ⟨hal-02394009⟩

• Communication dans un congrès

On a Complete Dynamical Model of Manual Wheelchair for Virtual Reality Simulation Platform

Viet Thuan Nguyen, Toufik Bentaleb, Chouki Sentouh, Philippe Pudlo, Jean-Christophe Popieul

A manual wheelchair (MWC) is an indispensable support for a person with reduced mobility. The researches on improving performance of MWC, therefore, should be validated by a reliable simulation platform, which allows simulating the MWC operation in virtual reality (VR), before being tested on real...

IEEE International Conference on Systems, Man and Cybernetics (SMC), Oct 2019, Bari, Italy. pp.2417-2422, ⟨10.1109/SMC.2019.8913960⟩. ⟨hal-03518993⟩

• Communication dans un congrès

Evaluation of a level 2 automated driving system prototyped in a dynamic simulator

Philippe Simon, Jérôme Floris, Mohamed Amir Benloucif, Chouki Sentouh, Serge Debernard, Jean-Christophe Popieul

18th Driving Simulation & Virtual Reality Conference & Exhibition (DSC), Sep 2019, Strasbourg, France. ⟨hal-03519286⟩