M. Chadli

• Doctor of Philosophy
• Professor (Full) at University of Paris-Saclay

This paper deals with the stabilization problem of discrete-time Takagi-Sugeno (T-S) fuzzy systems via static output controller (SOFC). The proposed method uses the descriptor approach to study this problem and leads to strict linear matrix inequality (LMI ) formulation. In contrast with the existing results, the method allows coping with multiple...

This note deals with the robust $H_{infty}$ control design for uncertain discrete-time singular systems. Necessary and sufficient conditions for the admissibility for these systems are formulated in strict linear matrix inequalities $({cal LMI}s)$ formulation. Then both state feedback and static output feedback controllers are studied and robust ne...

This paper concerns the bounded real lemma for discrete-time descriptor systems. A new formulation of the bounded real lemma for these systems is given. It extends the recent results presented in Zhang, Xia, and Shi (2008) and gives necessary and sufficient conditions in strict LMI (linear matrix inequality) which is more suitable for the control d...

In this article, a practical terminal sliding mode control (TSMC) framework based on an adaptive disturbance observer (ADO) is presented for active suspension systems. The proposed controller requires no exact feedback linearization about the suspension dynamics. The ADO is designed to estimate the unknown dynamics and control errors produced by th...

This paper investigates the problem of fault detection filter design for discrete-time polynomial fuzzy systems with faults and unknown disturbances. The frequency ranges of the faults and the disturbances are assumed to be known beforehand and to reside in low, middle or high frequency ranges. Thus, the proposed filter is designed in the finite fr...

It is quite desirable yet challenging to plan specified motion behaviors from cooperation to opposition in terms of practical human–robot interaction tasks if the settling time, symmetric/asymmetric constraint, limited resolution, and less bandwidth occupation are involved. Based on this fact, this work is devoted to the assimilation control of hum...

This paper investigates the leaderless consensus control for fractional-order multi-agent systems (FOMASs), in which the sensors are subject to unknown measurement sensitivity and the actuators are subject to deception attacks, respectively. Due to the special nature of fractional calculus operations, the control design for FOMASs with the unknown...

This paper investigates the Nash equilibrium seeking issue in $N$ -player non-zero-sum (NZS) games. First, prescribed-time control is a priori encoded into the framework of $N$ -player NZS games by defining a cost function that considers the interactions between multiple players and prescribed-time performance requirements. To tackle the comple...

This book gathers papers presented during the 5th International Conference on Electrical Engineering and Control Applications (ICEECA 2022), held on November, 15–17, 2022, Khenchela, Algeria. It covers new control system models, troubleshooting tips, and complex system requirements, such as increased speed, precision, and remote capabilities. Addit...

This book covers new control system models, troubleshooting tips, and complex system requirements, such as increased speed, precision, and remote capabilities. Additionally, the book discusses not only the engineering aspects of signal processing and various practical issues in the broad field of information transmission, but also novel technologie...

Aiming at the coupling and conflict issues between intelligent vehicle dynamics characteristics and path tracking system under complex road conditions, this paper investigates the dynamics constraint mechanism and motion control of intelligent vehicles, and proposes an intelligent vehicle lateral–vertical cooperative control method based on optimiz...

This article develops a resilient-learning control strategy for a kind of cyber–physical system to mitigate the influence of a mixed-type of network attacks. Such an attack is composed of a false-data-injection attack and a replay attack, which can be represented comprehensively by using Markov jump signals. Note that the involved attacks are assum...

This paper addresses the distributed zero-sum differential game adaptive control problem of six-rotor unmanned aerial vehicles under denial-of-service attacks based on the self-triggered mechanism. First, a fuzzy-logic-system-based identifier-critic framework is structured to obtain the alternative approximate solution with fewer learning parameter...

This article develops a fixed-time ${H}_\infty$ consensus control protocol for heterogeneous uncertain vehicular platooning to mitigate the adverse effects of disturbance, transmission delay when exchanging information between agents, and input delay from vehicles’ controllers to their actuators. To deal with this problem, a control scheme with a...

This article investigates the singularity-free finite-time adaptive optimal control problem for coordinated robots, where the position and velocity are constrained within the asymmetric yet time-varying ranges. Different from the existing results concerning constrained control, the imposed feasibility conditions are relaxed by skillfully integratin...

The adaptive fixed-time bipartite containment issue of p-normal multiagent systems (MASs) with unmodeled dynamics is investigated. In view of the structural characteristics of high-order systems, the technology of adding a power integrator is adopted which overcomes the difficulty caused by the high power of virtual control and real control items....

Aiming at the six-rotor unmanned aerial vehicles subjected to false data injection attacks, an event-triggered-based distributed intelligent learning control strategy is proposed in this paper. The reinforcement learning algorithm which is designed based on neural networks is introduced to achieve intelligent optimal control. Under the actor-critic...

The increasing emphasis on system safety and reliability has heightened the demand for fault-tolerant ability of control systems. Fault-tolerant cooperative control (FTCC) is one of the safety issues in multi-agent systems (MASs). This paper studies the leader-following consensus control of MASs in the presence of actuator and sensor faults. A unif...

This paper is concerned with the attack detection problem of T–S fuzzy systems with unknown but bounded (UBB) noise subject to malicious attacks via the set-membership estimation and a switching multi-mode high-order free-weighting matrix (SMHFM) method. Initially, the SMHFM is developed to address the so-called conservatism problem caused by the o...

This study is concerned with protocol-based asynchronous filtering for interval type-2 (IT2) fuzzy systems subject to time-varying saturation functions. Two mutually independent Markov processes are proposed to characterize the random manners of intermittently failure and transmission sequence of sensor nodes, and a new joint Markov process is form...

This paper investigates the optimal tracking problem for discrete-time (DT) autonomous nonlinear switched systems with the switching cost. To avoid excessive switching frequency, the switching cost between modes is considered in the performance index, which means that the optimal switching policy is not only related to the tracking error but also t...

The prescribed-time optimal control problem for nonlinear systems is investigated in this paper. First, a transformation function is constructed, which includes the system state and a strictly decreasing auxiliary function related to the prescribed time and accuracy. Second, the control input and the transformation function are incorporated into a...

This article studies the problem of memory event-triggered cooperative adaptive control of heterogeneous nonlinear multiagent systems (MASs) under denial-of-service (DoS) attacks based on the multiplayer mixed zero-sum (ZS) game strategy. First, a neural-network-based reinforcement learning scheme is structured to obtain the Nash equilibrium soluti...

A collision-free formation control problem for multiple unmanned aerial vehicles (UAVs) with directed switching topologies and disturbances is investigated. A novel distributed control algorithm that uses unmanned aerial vehicles' local directed switching information is proposed for achieving the required flight formation and ensuring a safe distan...

This article discusses the finite‐time control problem for a type of discrete‐time semi‐Markov jump systems (SMJSs) with partial unavailable information. A mode‐dependent resilient state feedback control strategy and the incomplete semi‐Markov kernel (SMK) method are applied to stabilize the obtained closed‐loop systems to protect against additive...

This paper presents a novel maximum power point tracking control for a stand-alone photovoltaic (PV) system based on a robust polynomial static output feedback control law subject to input saturation. In detail, a DC/DC boost converter is used to regulate the load and extract the maximum power from the photovoltaic panel. First, a polynomial fuzzy...

This paper presents an online transfer heuristic dynamic programming (THDP) control approach for a class of nonlinear discrete systems. The proposed approach integrates transfer learning with adaptive critic control. To design a robust optimal control strategy for the nonlinear discrete systems, we utilize sample data collected from a source task t...

To remove the influence of system initial values and controller parameters on the settling-time function of finite/fixed-time control, a prescribed-time fuzzy adaptive control is designed for n-link robotic manipulators in this work. The proposed setting-time function only relies on the parameters of the prescribed-time function and is no longer de...

This paper concerns optimal prescribed-time formation control for a class of nonlinear multi-agent systems (MASs). Optimal control depends on the solution of the Hamilton-Jacobi-Bellman equation, which is hard to be calculated directly due to its inherent nonlinearity. To overcome this difficulty, the reinforcement learning strategy with fuzzy logi...

This paper concerns optimal prescribed-time formation control for a class of nonlinear multi-agent systems (MASs). Optimal control depends on the solution of the Hamilton-Jacobi-Bellman equation, which is hard to be calculated directly due to its inherent nonlinearity. To overcome this difficulty, the reinforcement learning strategy with fuzzy logi...

This study presents a novel fuzzy observer synthesis method for a class of nonlinear systems characterized by discrete-time interval type-2 Takagi–Sugeno fuzzy models, which involves measurable/unmeasurable premise variables and bounded disturbances within ellipsoids. A nonfragile observer design strategy is employed to ensure resilience against po...

The prime intent of this study is to scrutinize the state estimation and finite‐time (FT) stabilization problems for a class of periodic piecewise time‐varying systems (PPTVSs) in the presence of external disturbances, immeasurable states and gain fluctuations by dint of resilient control. Moreover, the proportional integral observer system is buil...

p>This paper proposes a dynamic event-triggered control strategy for the leader-following multi-agent control under directed topology. A synthesis approach combining distributed controllers and observers design is developed under a dynamic sampling scheme, and only local information is required for each agent to implement the proposed method. The c...

This paper proposes a dynamic event-triggered control strategy for the leader-following multi-agent control under directed topology. A synthesis approach combining distributed controllers and observers design is developed under a dynamic sampling scheme, and only local information is required for each agent to implement the proposed method. The con...

Electrified vehicles, especially fully driven electric ground vehicles, are expected to provide significantly increased traffic mobility and road utilization with faster response times, lower levels of fuel consumption, less environmental pollution, electrified power sources and actuators, and the benefits of greater driving safety and convenience...

This chapter presents a robust maximum power point tracking (MPPT) control design for a standalone photovoltaic (PV) system subject to actuator saturation via polynomial Tackagi-Seguno (T-S) Fuzzy model based control approach. In order to optimize the installation cost, an output feedback controller is designed which reduce the number of sensors of...

This chapter presents a robust nonlinear \( H_\infty \) Static Output Feedback control (SOF) design for steering control of the autonomous vehicle under actuator saturation, external disturbances, and taking into account the unavailability of the sideslip angle. The Takagi-Sugeno (T-S) approach is used to model both the lateral and lane keeping dyn...

This paper presents a discussion on the adaptive fuzzy fully distributed consensus problem of heterogeneous switched nonlinear multi-agent systems (SNMASs). The considered agents contain both first and second-order dynamics. Fuzzy logic systems (FLSs) are introduced to approximate the unknown nonlinear terms of the SNMASs. Influenced by the systems...

This paper provides a detailed analysis of the output voltage/current tracking control of a PWM DCDC converter that has been modeled as a Markov jump system. In order to achieve that, a dynamic sensorless strategy is proposed to perform active disturbance rejection control. As a convex optimization problem, a novel reformulation of the problem is p...

The adaptive fuzzy predefined-time tracking control problem for a class of nonlinear systems with output hysteresis is investigated in this article. An inverse model is utilized to capture the output hysteresis phenomenon, and then the Nussbaum-type function technique is utilized to overcome the difficulty of unknown time-varying control gain cause...

This work is devoted to an $H_{\infty}$ sliding-mode control for nonlinear singularly perturbed system under a network control framework. Aiming at describing the nonlinearities with parameter uncertainties in the studied system, the idea of interval type-2 (IT2) fuzzy method is employed in the system modeling. A disturbance observer is developed...

In this paper, a descriptor Takagi-Sugeno (T-S) fuzzy system is considered, subject to disturbances, sensor and actuator faults, in the presence of unmeasurable premise variables and input saturation, which the later are considered as uncertainties of the system. A robust \(\mathcal {L}_{2}\) Proportional-Integral (PI) observer based controller is...

This extended abstract presents our recent work on the leader-following consensus control for generic linear multi-agent systems. An improved dynamic event-triggered control framework are proposed, based on a moving average approach. The proposed methods involve model-based estimation and clock-like auxiliary dynamic variables to increase the inter...

p>This extended abstract presents our recent work on the leader-following consensus control for generic linear multi-agent systems. An improved dynamic event-triggered control framework are proposed, based on a moving average approach. The proposed methods involve model-based estimation and clock-like auxiliary dynamic variables to increase the int...

In this paper, the state estimator design problem of interval type-2 Takagi–Sugeno fuzzy systems suffering from bounded disturbances is studied. To enhance the resilience of the estimator, a non-fragile design scheme is proposed to tackle the estimator gain variations. Meanwhile, an event-triggered communication mechanism is introduced for relievin...

p>This paper considers the leader-following consensus control for linear multi-agent systems. Two improved dynamic event-triggered control frameworks are proposed. The first is based on a moving average approach, whereas the second is a fully-distributed control scheme based on a well-chosen Lyapunov function with rigorous proof of adjustable inter...

p>This paper considers the leader-following consensus control for linear multi-agent systems. Two improved dynamic event-triggered control frameworks are proposed. The first is based on a moving average approach, whereas the second is a fully-distributed control scheme based on a well-chosen Lyapunov function with rigorous proof of adjustable inter...

This extended abstract presents our recent work on the leader-following consensus control for generic linear multi-agent systems. An improved dynamic event-triggered control framework are proposed, based on a moving average approach. The proposed methods involve model-based estimation and clock-like auxiliary dynamic variables to increase the inter...

This paper considers the leader-following consensus control for linear multi-agent systems. Two improved dynamic event-triggered control frameworks are proposed. The first one is based on a moving average approach, whereas the second is a fully-distributed control scheme based on a wellchosen Lyapunov function with rigorous proof of adjustable inte...

The leader–following consensus issue is investigated for multiagent systems under external disturbances and denial-of-service (DoS) attacks. DoS attacks are considered to be designed according to an unknown attack strategy and would block the communication network. First, a novel triggering mechanism is designed to save communication resources duri...

This paper is concerned with the stabilization problem for continuous‐time periodic piecewise time‐varying uncertain systems with time‐varying delay, actuator failures and external disturbances. Specifically, the actuator failure consists of both unknown actuator partial failure and actuator bias failure. Based on multiple threshold values, in this...

This paper proposes an intelligent vehicle lateral-vertical cooperative control method based on optimized preview distance to address the coupling and conflict issues between the path tracking system and the handling stability in the process of controlling the motion of intelligent vehicles. To begin with, an intelligent vehicle path tracking contr...

In this paper, a new robust model predictive control (RMPC) for uncertain nonlinear systems subject to actuator saturation is designed to regulate the terminal voltage of a photovoltaic generator (PVG) that feeds a DC motor-pump via a buck DC–DC converter. The considered system is a combination of a PVG-converter and DC motor-pump, which possesses...

This paper investigates a distributed fuzzy adaptive formation control for quadrotor multiple unmanned aerial vehicles under unmodeled dynamics and switching topologies. The unmanned aerial vehicles dynamics model is described by the Newton-Euler formula, and the actuator faults are considered in the system model in the form of multiplicative facto...

This paper provides a new non-quadratic stabilization conditions based on adaptive fuzzy observer for a class of Takagi-Sugeno (T-S) fuzzy systems subject to external disturbances and both actuator faults and saturation. Firstly, an observer based fault tolerant control (FTC) is proposed, not only to estimate both system states and actuator faults...

The subject of this study is fuzzy predefined-time control for a class of switched nonlinear systems with multiple faults. In comparison to existing research on predefined-time control, this study delves into the realm of switched nonlinear systems, encompassing switched linear sensor faults and switched non-affine faults. The difficulty in the con...

This paper presents a novel observer-based robust fault predictive control (OBRFPC) approach for a wind turbine time-delay system subject to constraints, actuator/sensor faults, and external disturbances. The proposed approach is based on an augmented state-space representation that contains state-space variables and estimation errors. The proposed...

This paper studies the disturbance-observer-based adaptive neural network cooperative event-triggered control problem for six-rotor unmanned aerial vehicles with finite-time prescribed performance. Six-rotor unmanned aerial vehicle systems are divided into the position subsystem and the attitude subsystem. The switching threshold event-triggered me...

This paper studies the stabilization problem for linear continuous‐time singular fractional‐order systems with the fractional‐order α$$ \alpha $$ satisfying 1<α<2$$ 1<\alpha <2 $$. New formulations of the admissibility for the closed‐loop system by dynamic output feedback controller are obtained using necessary and sufficient LMI$$ \mathcal{LMI} $$...

Controlling motions for spar wind turbines (SWT) is necessary for reliable power production. In this paper, a control design is developed and its efficacy is demonstrated through the application to wind turbines installed on spar. SWT is expected to generate rated power under stochastic wind and wave loads. The controller design is derived from the...

For nonlinear space-varying parabolic partial differential equation systems (PPDESs) with random time-varying delay, this paper introduces a dynamic fuzzy boundary output feedback (DFBOF) control under non-collocated boundary measurement (NCBM). Initially, the nonlinear delayed PPDESs are represented by Takagi-Sugeno (T–S) fuzzy models and random t...

In this article, a novel integral reinforcement learning (RL)-based nonfragile output feedback tracking control algorithm is proposed for uncertain Markov jump nonlinear systems presented by the Takagi–Sugeno fuzzy model. The problem of nonfragile control is converted into solving the zero-sum games, where the control input and uncertain disturbanc...

The finite-time event-triggered stabilization is studied for a class of discrete-time nonlinear Markov jump singularly perturbed models with partially unknown transition probabilities (TPs). T–S fuzzy strategy is adopted to characterize the related nonlinear Markov jump singularly perturbed models. The control objective is to make sure that the sys...

In this paper, the design of an event-triggered fault-tolerant control for leader-following consensus in multi-agent systems subject to actuator faults is presented. The problem under consideration is to reduce the control update rate and to guarantee that all the agents follow the trajectories of a leader when one or all the agents are subject to...

This work is dedicated to solving the adaptive fuzzy decentralized tracking control issue of large-scale nonlinear systems with full-state constraints. Different with barrier Lyapunov function, the main difference is that a novel nonlinear state-dependent function (NSDF) is introduced to prevent the state constraints being overstepped. Based on NSD...

For the stabilization problem of non linear system, a new control based on unknown input observer (UIO) is proposed to consider unknown inputs and actuators saturation. The proposed control method consists of designing an H∞ control for nonlinear systems based on TS fuzzy systems subject to unknown inputs and actuators saturation using the idea of...

This study deals with the peak-to-peak fuzzy filtering problem for a class of nonlinear discrete-time systems with analog fading channels and communication protocol, in which the nonlinear system is modeled by the Takagi-Sugeno fuzzy model. In analog fading channels, a homogeneous Markov chain is forwarded to model the random time-varying amplitude...

A decentralized adaptive fuzzy sampled-data control problem for switched large-scale nonlinear systems with time-varying delays is considered in this paper. Fuzzy logic systems are applied to handle unknown nonlinear terms. A novel fuzzy adaptive law is proposed utilizing only the information of the system states at sampling instants. Moreover, a p...

This article proposes a novel unknown input functional observer design approach toward discrete-time interval type-2 Takagi–Sugeno fuzzy system models subject to measurable and unmeasurable premise variables. By constructing a new state vector that contains both the unknown inputs and the system states, functional observers are proposed for the cas...

This paper presents a new fuzzy output feedback control design for autonomous vehicle steering under actuator saturation, unavailability of the sideslip angle measurement, unknown road curvature, and lateral wind force. To take into account the actuator constraint, the saturation effect is transformed into dead-zone nonlinearity. A static output co...

In this paper, an observer-based robust fault-tolerant predictive control (ORFTPC) strategy is proposed for Linear Parameter-Varying (LPV) systems subject to input constraints and sensor failures. The main objective of this work is to establish a real observer based on a virtual observer to be used to estimate both states and sensor failures of the...

This paper proposes novel necessary and sufficient strict linear matrix inequalities (LMIs), to characterize admissibility of singular fractional-order linear continuous-time systems with the fractional derivative of order α belonging to 1≤α<2. Then, the problem of the bounded real lemma corresponding to the H∞ norm computation is addressed involvi...

This paper is devoted to the discrete-time sliding mode control (DSMC) for nonlinear semi-Markovian switching systems (S-MSSs). Motivated by the fact that the complete information of the semi-Markov kernel (SMK) is difficult to be obtained in practical applications, it is recognized to be partly unknown as the most common mean. By utilizing the pri...

In this paper, the design of an event-triggered fault-tolerant control for leader-following consensus in multi-agent systems subject to actuator faults is presented. The problem under consideration is to reduce the control update rate and to guarantee that all the agents follow the trajectories of a leader when one or all the agents are subject to...

This work addresses the design of an event-triggered finite-time singularity-free terminal sliding mode control (SMC) algorithm for tracking of Euler-Lagrange (EL) systems subject to state/error constraints, unstructured dynamics, and external disturbances. First, a novel sliding mode manifold (SMM), not only devoted to the finite-time convergence...

This paper focuses on mixed H2/H∞ fuzzy maximum power point tracking (MPPT) of photovoltaic (PV) system under asymmetric saturation and variations in climatic conditions. To maximize the power from the PV panel array, the DC–DC boost converter is controlled by its duty ratio which is practically saturated between 0 and 1. MPPT based on conventional...

In this short paper, relaxed observer-based state estimation of discrete-time Takagi-Sugeno fuzzy systems is proposed via developing a new augmented matrix approach. In contrast with the recent method reported in the literature, a more advanced introduction mode of additional matrices is developed without any redundant constraint under the framewor...

This paper considers the problem of finite-time H∞ control for switched systems under a dynamic event-triggered mechanism. In order to avoid frequent switching phenomenon and exclude Zeno behavior, discrete state information is used to construct a state-dependent switching law and a dynamic event-triggered mechanism. The event-triggered condition o...

This paper provides a systematic method to design robust tracking controllers of reference signals with bounded derivatives of order ν for uncertain multi-input multi-output (MIMO) systems with bounded parametric uncertainties, in particular, of rational multi-affine type, and/or in presence of disturbances with bounded derivatives of order ν. The...

This paper presents a robust output feedback control of polynomial Takagi-Sugeno (TS) fuzzy system under actuator saturation. In this scheme, a general polynomial Lyapunov function depend on all the system states is employed to reduce the conservatism of sum of squares (SOS) stabilization conditions. The estimation of the robust invariance set is g...

It is extremely important in the contemporary global society to develop reliable control techniques for mechatronic and transportation systems that can be easily implemented using modern digital and wireless technologies to force engineering systems to behave like skilled workers who work quickly, accurately, and cheaply, despite parametric variati...

Special issue on “emerging control techniques for mechatronic and transportation systems” Michael V. Basin, Laura Celentano, Mohammed Chadli, Peng Shi First published: 01 October 2021 https://doi.org/10.1002/asjc.2695 https://onlinelibrary.wiley.com/toc/19346093/2021/23/5 Volume 23, Issue 5 Pages: 2039-2525 September 2021

In this paper, a fault-tolerant control scheme is presented for a boiler-turbine unit of a thermal power plant covering a wide range of operations: at low, medium, and high loads. The approach is based on the use of an observer-based actuator fault estimation system to detect and estimate the fault magnitude for a posteriori compensation via a faul...

This paper is concerned with prescribed-time functional unknown input observer (PTFUIO) design for linear descriptor systems. First, by constructing two identical asymptotic convergence functional observers, a new PTFUIO is developed which can achieve an exact estimation within an arbitrarily prescribed time, where both the estimation accuracy and...

In this article, the group consensus problem is addressed for a network of multiagent systems (MASs). Unlike in existing literature, where a relative-state feedback-based distributed control input is used to achieve group consensus, this work aims at designing a relative-output-based distributed control law to achieve the same goal. To that effect,...