Ahmed Khalifa

Ahmed Khalifa
Ecole Centrale de Nantes | EC Nantes · Department of Automatics and Robotics

PhD

About

22
Publications
5,610
Reads
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246
Citations
Introduction
My research interests span the areas of robotics, mechatronics and control theory. My interests are based on an interdisciplinary approach including robotic design, modeling, innovative mechatronics, and control strategies. I have a specific interest in robotic systems including flying/ground robots, aerial/ground manipulators, and homogeneous/heterogeneous multi-robot systems. My interests in control strategies include robust, predictive, cooperative, and distributed. Currently, I am joining the Ecole Centrale de Nantes as a researcher. I am working in developing new models and control laws for car-like vehicles platoon navigating in an urban environment.
Additional affiliations
December 2017 - present
Ecole Centrale de Nantes
Position
  • PostDoc Position
September 2015 - June 2016
Keio University
Position
  • PhD Research Student
September 2011 - September 2016
Egypt-Japan University of Science and Technology
Position
  • Post Graduate Student

Publications

Publications (22)
Article
Full-text available
This paper proposes a longitudinal control framework for platooning in an urban environment. The targetted application is to redistribute vehicles involved in car-sharing systems, where only the leader vehicle is human-driven. We propose a platoon model and control law considering actuator dynamics. This control relies on a hybrid Information Flow...
Article
The experimental validation of a new quadrotor manipulator is tackled in this paper. In this system, a two-DOF robotic arm is attached to the bottom center of a quadcopter. The arm is designed with a certain topology such that its end-effector can follow a six-DOF desired trajectory which makes our proposed system superior over the others. It can t...
Article
Full-text available
In this paper, a distributed observer-based approach is proposed to control the longitudinal motion of car-like vehicle platoon moving in an urban environment. To the best of our knowledge, this is the first work presenting an observer-based platoon controller that combines the advantages of high traffic capacity and a minimum number of communicati...
Preprint
The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the end-effector to track 6-DOF trajectory with the minimum possible number of actuators/links and hence, maximiz...
Preprint
Full-text available
The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of such systems are quite challenging because they are naturally unstable, have very fast dynamics, have strong non...
Article
Full-text available
In this paper, we consider cooperative control issues for a multiunmanned aerial vehicle (UAV) system. We propose a cooperative formation control strategy with unidirectional network connections between UAVs. Our strategy is to apply a consensus-based algorithm to the UAVs so that they can cooperatively fly in formation. First, we show that UAV mod...
Article
Full-text available
The research on aerial manipulation has been increased rapidly in recent years. In the previous work, a manipulator or a gripper is attached to the bottom of a quadrotor to facilitate the interaction with the environment. However, the previously introduced systems suffer from either limited end-effector Degrees Of Freedom (DOF) or small payload cap...
Article
Full-text available
In this paper, the position kinematic analysis of a novel quadrotor manipulation system is presented. In this system, a quadrotor is attached with 2-DOF robotic arm. The proposed robot addresses the limitations found in the current aerial manipulators. To check the reliability of the proposed system, a quadrotor with high allowable payload capabili...
Conference Paper
Full-text available
Aerial manipulation systems become very attractive for a wide range of applications due to their unique features. However, control of such system is quite challenging due to its high nonlinearities, couplings, and external disturbances. In this paper, a Disturbance Observer (DOb)-based linearization of a quadrotor manipulation system is utilized. T...
Conference Paper
Full-text available
Recently, the Aerial Manipulation System becomes very attractive for a wide range of applications due to its unique features. However, control of such system is quite challenging. One of the critical challenge is that this system is very susceptible to actuators' faults. In this paper, a Passive Fault Tolerant Control System is proposed to address...
Thesis
The research on aerial manipulation has been increased rapidly in recent years due to its unique features that qualify it to be utilized in vital applica- tions and to support human in daily life activities. In the previous works, a manipulator or a gripper is attached to the bottom of a quadrotor to facili- tate the interaction with the environmen...
Article
Full-text available
This article introduces a novel quadrotor manipulation system that consists of 2-link manipulator with unique topology attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation system. Unlike the current system, the proposed system enables the end effector to achieve a...
Conference Paper
Full-text available
This paper introduces motion control scheme of a new aerial manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation systems. It is very attractive for a wide range of applications due to their unique features. H...
Article
Full-text available
In this paper, the design and the position inverse kinematics analysis of a novel aerial manipulation system are presented. The proposed system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation system. New inverse kinematic analys...
Conference Paper
Full-text available
This paper introduces control design of an aerial manipulator which consists of 2-link manipulator attached to the bottom of a quad rotor. This new system presents a solution for the limitations found in the current quad rotor manipulation system. The proposed robot enables the end effector to achieve any arbitrary position and orientation, and thu...
Conference Paper
Full-text available
This paper presents the design of two controllers namely, Direct Fuzzy Logic controller and Fuzzy Model Reference Learning Control applied to a new aerial manipulation system called "Quad rotor-Manipulator System". This system consists of 2-link manipulator connected to the bottom of a quad rotor. The dynamic model of this system is derived taking...
Thesis
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manip- ulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-ef...
Conference Paper
Full-text available
This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationsh...
Conference Paper
Full-text available
This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effe...

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