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Communication dans un congrès

Joystick Haptic Force Feedback for Powered Wheelchair - A Model-based Shared Control Approach

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

This paper proposes a novel approach for designing an assistance system via haptic joystick force feedback on an electric wheelchair using model-based shared control approach. Assistance system supports wheelchair users through haptic force at joystick which can make the user-wheelchair interaction…

2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Oct 2020, Toronto, Canada. pp.4453-4459, ⟨10.1109/SMC42975.2020.9283235⟩. ⟨hal-03405147⟩

Communication dans un congrès

A Biomechanical Model of Hand-Joystick Interaction of Powered Wheelchair User

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

Understanding and predicting the behavior of the powered wheelchair users play an important role in developing the driver assistance systems for the intelligent wheelchair. This article presents a model of wheelchair users, from the point of view of control engineering, based on the interaction…

2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Oct 2020, Toronto, Canada. pp.1751-1757, ⟨10.1109/SMC42975.2020.9283343⟩. ⟨hal-03405151⟩

Communication dans un congrès

On Nonlinear Control for Lane Keeping Assist System in Steer-By-Wire Road Wheeled Vehicles

Gabriele Perozzi, Chouki Sentouh, Jérôme Floris, Jean-Christophe Popieul

This paper deals with the design of a lane keeping system in steer-by-wire road four-wheeled vehicles using a nonlinear controller. The controller is designed to take into account the driver's behavior and availability and to control the wheels' angle of the steer system. A high order…

21st IFAC World Congress, Jul 2020, Berlin, Germany. ⟨10.1016/j.ifacol.2020.12.2343⟩. ⟨hal-03405389⟩

Communication dans un congrès

Minimising the User’s Effort during Wheelchair Propulsion using an Optimal Control Problem

Ouazna Oukacha, Chouki Sentouh, Philippe Pudlo

This paper proposes a study of the optimal control problem with state constraint, using two types of a power-assist wheelchair propulsion. The cost function is given by the metabolic function, which represented by acompromise between the work exerted by the joints muscles (mechanical effect) and an…

17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), Jul 2020, Paris, France. pp.159-166, ⟨10.5220/0009833101590166⟩. ⟨hal-03405407⟩

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

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⟩

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⟩