Jawhar Ghommam

Sultan Qaboos University | SQU · Department of Electrical and Computer Engineering

The number of individuals with upper or lower extremities dysfunction (ULED) has considerably increased in the past few decades, resulting in a high economic burden for their families and society. Individuals with ULEDs require assistive robots to fulfill all their activities of daily living (ADLs). However, a theory for the optimal design of assis...

Being an emerging technology, robotic manipulation has encountered tremendous advancements due to technological developments starting from using sensors to artificial intelligence. Over the decades, robotic manipulation has advanced in terms of the versatility and flexibility of mobile robot platforms. Thus, robots are now capable of interacting wi...

In this article, a robust adaptive impedance control based on the modified function approximation technique, and augmented with a novel integral nonsingular terminal sliding mode control, is proposed for a surgical haptic system. The haptic device is maneuvered by surgeons, whereby the mode of action, motion path, and haptic dynamics are rendered a...

This paper investigates the localization and circumnavigation problem for a group of underactuated surface vessels (USVs). In particular, the USVs collaboratively locate an unknown moving target and then circumnavigate it isometrically with desired spacing angle and velocity. In this strategy, the target information is assumed to be known to only s...

This paper addresses the problem of containment control strategy for a fleet of follower underactuated surface vessels (USVs) for avoiding obstacles safely and efficiently if the leader USVs are well equipped with high precision sensors. Therefore, within in this framework, we present a constructive method to design totally new prescribed-time perf...

This paper proposes the design of a new sliding mode controller of the attitude fast inner-loop of a drone quadrotor type system. The controller uses the novel model-based switching functions approach, which leads to important simplifications of the pitch, roll and yaw torques control inputs fed to the quadrotor. The model-based switching functions...

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncer...

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...

Control systems are designed to satisfy certain objectives like safety regulations, reliable production, disturbance rejection, and so on and to operate under certain desired specifications and constraints for real-world problems. Advanced control techniques combine and extend methods established from several research fields such as control theory,...

This paper features a novel sliding mode controller for robotic arms using nonlinear model-based switching functions. The new controller is experimentally validated on a 7-DOF exoskeleton arm used for upper-limb rehabilitation applications. The proposed approach features a novel concept using model-based switching functions in the sliding mode cont...

Searching and containing dynamic target like oil spillage in the ocean is a challenging task due to the natural time variance of the spread of the oil. The use of cooperative multi-marine vehicle systems in a cluttered environment for this purpose poses difficulties in sustaining formation pattern to pursue and contain the leakage. In this article,...

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...

Vehicle lane-changing and overtaking are fundamental technology in autonomous driving. This paper proposes an approach that combines guidance navigation and image based visual detection for road following and overtaking maneuver. Two critical issues are considered: Firstly, it is suggested to design a robust constrained road following based line of...

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 dron...

This chapter presents a finite time distributed consensus problem in the context of higher order multi-agent systems (MAS), when the agent dynamics are potentially affected by mismatched uncertainties. With the development of integral sliding mode (ISM), using finite time disturbance observer(FTDO), allows to neglect the effect of mismatched uncert...

This paper addresses the generation of an optimal constrained trajectory for lane merging tasks. The developed algorithm ensure a safe and a less fuel consumption for autonomous driving. The security is established with the restriction of both the lateral and the longitudinal AGV’s position inside a safe zone while accomplishing a lane change to ov...

This book presents solutions to control problems in a number of robotic systems and provides a wealth of worked-out examples with full analytical and numerical details, graphically illustrated to aid in reader comprehension. It also presents relevant studies on and applications of robotic system control approaches, as well as the latest findings fr...

This book focuses on unhealthy cyber-physical systems. Consisting of 14 chapters, it discusses recognizing the beginning of the fault, diagnosing the appearance of the fault, and stopping the system or switching to a special control mode known as fault-tolerant control. Each chapter includes the background, motivation, quantitative development (equ...

In this paper, the problem of distributed fault-tolerant control for multi-agent systems is studied. In the proposed method, the communication graph of the network is not needed to be known by the agents. The leader agent is active with a bounded non-zero control input. The control input of the leader and its bound is not known by any follower. Mor...

In the published article there are two typesetting errors: 1) the paragraph below equation (27) at Page 375: “The differentiation of (26) is given by ….” should be “The differentiation of (27) is given by ….”; and 2) the paragraph below equation (36) at Page 375: “Based on Geršgorin Circle Criterion [20], the eigenvalues of the Laplacian matrix in...

In this paper, a Three Loop Uncertainties Compensator (TLUC) and Exponential Reaching Law Sliding Mode Controller (ERSM) is proposed and successfully applied to an Unmanned Aerial Vehicles (UAV) quadrotor. The TLUC estimates unknown time-varying uncertainties and perturbations to reduce their effects and to preserve stability. The ERSM is integrate...

This paper investigates the active fault tolerant cooperative control problem for a team of wheeled mobile robots whose actuators are subjected to partial or severe faults during the team mission. The cooperative robots network only requires the interaction between local neighbors over the undirected graph and does not assume the existence of leade...

This paper proposes an improved non-singular terminal super twisting control for the problem of position and attitude tracking of quadrotor systems suffering from uncertainties and disturbances. The super-twisting algorithm STA is a second order sliding mode known to be a very effective control used to provide high precision and less chattering for...

This paper considers the finite-time path-following control problem for an underactuated surface vessel subject to parametric uncertainties, unknown disturbances and involving input-control saturation. A finite-time command filtered backstepping approach is adopted as the main control framework along with the first-order sliding mode differentiator...

In this paper, a leader-follower quadrotor based on a visual system is presented. It is assumed that the follower quadrotor is equipped with a single onboard camera for determining the position of the leader. In the following quadrotor, feedback linearisation based on sliding mode control FLSMC is designed. The latter reduces complex nonlinear cont...

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 f...

This paper presents an adaptive backstepping control scheme applied to a group of mobile manipulator robots transporting a rigid object in coordination. All the dynamic parameters of the robotic system, including the handled object and the mobile manipulators, are assumed to be unknown but constant. The problem of uncertain parameters is resolved b...

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...

This paper investigates the distributed finite-time consensus tracking problem for higher-order nonlinear multi-agent systems (MASs). The distributed finite-time consensus protocol is based on full order sliding surface and super twisting algorithm. The nominal consensus control for the MASs is designed based on the geometric homogeneous finite tim...

The paper focuses on single and multiple current sensors fault detection and isolation (FDI) for induction motor (IM) drives using only two current sensors. Two model based diagnosis methods are proposed to estimate the current residuals dynamics in the stationary reference frame: The first one is a differential algebraic estimation of fault dynami...

In this paper, a novel robust backstepping-based approach combined with sliding mode control is proposed for trajectory tracking of a quadrotor UAV subject to external disturbances and parameter uncertainties associated with the presence of aerodynamic forces and possible wind force. To enhance robustness, a nonlinear disturbance observer (NDO) is...

In this paper, a new robust adaptive controller is investigated to force an underactuated surface marine vessel to follow a predefined parameterised path at a desired speed, despite actuator saturation and the presence of model uncertainties as well as environmental disturbances induced by waves, wind and sea-currents. To ensure robustness of the p...

Robotic assistance is improving the way people think and/or live regardless of age or disability since it has been able to safely and effectively assist needy people while enhancing their own trust in and the dependence. This paper describes the design of four degrees of freedom (DOFs) parallel mechanism in order to orientate visual deficient away...

The list of authors in the original publication was incomplete. The complete list of authors is shown here, including the third author, Faiçal Mnif. © 2017 Springer Science+Business Media B.V., part of Springer Nature

This paper is concerned with the problem of leaderfollower formation control for a group of underactuated surface vessels (USV) with partially known control input functions. In the proposed scheme, the problem is formulated as an adaptive feedback control problem for a line-of- sight based formation configuration of a leader and a follower. To acco...

This chapter presents a finite-time consensus problem of higher-order nonlinear multi-agent systems (MAS) in the presence of bounded disturbances. The nominal control is designed by homogeneous finite-time technique to track the desired target trajectories. The chattering is mitigated by designing an integral sliding surface using adaptive super tw...

This chapter considers the problem of path-following control of autonomous surface vessels in the presence of ocean currents and parametric model uncertainty. The problem at hand consists of steering a vehicle surface ship along a geometric path with a desired speed profile. The Lyapunov technique is used to derive a robust architecture. To ensure...

This paper presents a constructive design of a continuous finite-time controller for a class of mechanical systems known as underactuated systems that satisfy the symmetry properties. An adaptive radial basis function neural network (RBFNN) finite-time control scheme is proposed to stabilize the underactuated system at a given equilibrium, regardle...

Purpose This paper aims to address the speed and flux tracking problem of an induction motor (IM) drive that propels an electric vehicle (EV). A new continuous control law is developed for an IM drive by using the backstepping design associated with the Robust Integral Sign of the Error (RISE) technique. Design/methodology/approach First, the ro...

This paper presents a nonlinear control scheme for multiple mobile manipulator robots (MMR) moving a rigid object in coordination. The dynamic parameters of the handled object and the mobile manipulators are estimated online using the virtual decomposition approach. The control law is designed based on an appropriate choice of the Lyapunov function...

In this paper, an adaptive full order sliding mode (FOSM) controller is proposed for strict feedback nonlinear systems with mismatched uncertainties. The design objective of the controller is to track a specified trajectory in presence of significant mismatched uncertainties. In the first step the dynamic model for the first state is considered by...

In this paper, we address the design of a navigation control algorithm for the autonomous landing of a quadrotor on a moving mobile platform. The quadrotor's velocity is unknown, and we assume that it is equipped with an on-board downwardlooking single camera for determining its position relative to the target. The proposed autonomous landing opera...

This paper addresses the remote control of robot skeleton based on gesture recognition of a human operator’s body. The control motion procedure is facilitated by the use of the Kinect motion capture sensor, which transmits appropriate signals to the robot’s joints to adequately replicate the operator’s movement. Since the movement of the human oper...

The inverted pendulum is considered as a special class of underactuated mechanical systems with two degrees of freedom and a single control input. This mechanical configuration allows to transform the underactuated system into a nonlinear system that is referred to as the normal form, whose control design techniques for stabilization are well known...

This study proposes a vision-based motion estimation and target tracking algorithm for a quadrotor unmanned aerial vehicle circumnavigation around a moving mobile target whose velocity is unknown and time varying. In this study, the authors assume that the quadrotor is equipped with onboard downward-looking camera, as a means to determine position...

In this paper, we extend the popular PID regulation control into PID tracking control by using a filtered error and modifying the reference signal. In order to decrease the gains of PID controller, a neural compensator is enclosed. The global and semiglobal asymptotic stability of this PID tracking control with neural compensation are proposed. The...

Purpose This work focuses on modelling, robust controller design and real time control of 3-DOF Helicopter. Design/methodology/approach This study presents an improved H∞ controller for this aerial vehicle Findings Simulation and experiment results are addressed to demonstrate the capability of this proposed control strategy to counteract the eff...

This paper deals with the cooperative tracking control of a team of underactuated quadrotors in three-dimensional space when the reference signal is not available to all the vehicles. Using the Backstepping and filtering design technique and results from graph theory, a distributed cooperative controller consisting of two interconnected blocks is p...

This paper addresses Visio and path following control problem of a nonholonomic Two-Wheeled Inverted Pendulum Mobile Robot. We propose control architecture based on two control layers. A speed inner loop control scheme is first designed based on state feedback technique to ensure stability of the inverted structure of the robot. A second outer loop...

This paper deals with the tracking control of a class of motor control characterized by its highly nonlinear and multivariable dynamic, induction motor (IM) system. A new high gain feedback control strategy called the Robust Integral Sign of the Error (RISE) is used in the presence of additive load disturbances. The RISE technique is able to guaran...

In this paper a step by step adaptive super twisting controller is designed for second order nonlinear strict feedback system with mismatched uncertainty. The design procedure is carried out by considering a virtual controller at each step. After obtaining the first step the desired dynamic model for each state is defined by the previous one and fi...

This paper deals with the synthesis of a speed and flux control strategy for a class of motor control characterized by its highly nonlinear and multivariable dynamic, induction motor drive. A new continuous control law is proposed using a combination of the backstepping design with the Robust Integral Sign of the Error (RISE) technique in the prese...

The distributed cooperative tracking control problem for a group of quadrotors in a three-dimensional space is addressed in this paper. The controller design is divided in two stages. In the first stage, local distributed controllers for the translational dynamics are designed, forcing the quadrotor to asymptotically track the desired trajectory wi...

This chapter addresses design challenges associated with a servo system of a Hard Disc Drive (HDD). A PRISE -NN control approach is proposed. The main objective of this novel controller is to enhance the track following in a Hard Disc Drive. Indeed, PRISE -NN approach involves an optimal gain selection, in a RISE-NN controller. Taking advantage of...

In this paper we develop new type of control law to steer a group of multiple unmanned air vehicles (UAVs) along given spacial paths (path-following), while ensuring that they reach and maintain a desired formation pattern. The methodology utilized to derive the cooperative path following controller unfolds in two basic steps. First, a path-followi...

In this paper, a Sliding Model Control (SMC) is proposed to deal with a track following problem of a single stage-Voice-Coil (VCM) Motor of a Hard-Disc-Drive (HDD). As to offer a chattering free motion of the HDD due to the presence of hysteresis, the SMC can be improved using a higher order version to enhance the accuracy, the speed and the robust...

Helicopter dynamics are generally non linear, unstable with interaxis coupling as well. Moreover, disturbance and parametric uncertainties make traditional control structure, as PID controller, usually not effective to stabilize this system. This paper focuses on modelling and real time robust control of 3-DOF Helicopter. This study presents an imp...