Research Interests:
Research Interests:
Research Interests:
Research Interests:
Research Interests:
GDRMACS, Groupe SD
Research Interests:
Research Interests:
Research Interests:
A high redundant non-holonomic humanoid mobile dual-arm manipulator system (MDAMS) is presented in this paper, where the motion planning to realize “human-like” autonomous navigation and manipulation tasks is studied. First, an improved... more
A high redundant non-holonomic humanoid mobile dual-arm manipulator system (MDAMS) is presented in this paper, where the motion planning to realize “human-like” autonomous navigation and manipulation tasks is studied. First, an improved MaxiMin NSGA-II algorithm, which optimizes five objective functions to solve the problems of singularity, redundancy and coupling between mobile base and manipulator simultaneously, is proposed to design the optimal pose to manipulate the target object. Then, in order to link the initial pose and that optimal pose, an off-line motion planning algorithm is designed. In detail, an efficient direct-connect bidirectional RRT and gradient descent algorithm is proposed to reduce the sampled nodes largely, and a geometric optimization method is proposed for path pruning. Besides, head forward behaviors are realized by calculating the reasonable orientations and assigning them to the mobile base to improve the quality of human-robot interaction. Third, the e...
Research Interests:
Research Interests:
Research Interests:
In this paper the formation control of a multi-robots system is investigated. The proposed control law, based on Lie group theory, is applied to control the formation of a group of unicycle-type robots. The communication topology is... more
In this paper the formation control of a multi-robots system is investigated. The proposed control law, based on Lie group theory, is applied to control the formation of a group of unicycle-type robots. The communication topology is supposed to be a rooted directed acyclic graph and fixed. Some numerical simulations using Matlab are made to validate our results.
Research Interests:
Research Interests:
In this paper, the combined use of the structure at infinity results and the input-output causal paths concept, leads to a new necessary and sufficient feedback decoupling condition for square linear systems modelled by bond graphs. This... more
In this paper, the combined use of the structure at infinity results and the input-output causal paths concept, leads to a new necessary and sufficient feedback decoupling condition for square linear systems modelled by bond graphs. This condition has an accurate graphical interpretation in terms of shortest different input-output causal paths in the associated bond graph model
Research Interests:
In the present work a bond graph approach to build full-order proportional–integral (PI) observers is shown. The proposed approach is based on the bond graph method defined for designing classical linear observers (Luenberger observers).... more
In the present work a bond graph approach to build full-order proportional–integral (PI) observers is shown. The proposed approach is based on the bond graph method defined for designing classical linear observers (Luenberger observers). The method is extended to build a second type of integral observers more robust to the presence of sensor noise. As application, the method is used over the pseudo bond graph model of a continuous stirred tank reactor (CSTR). Simulation results show the performance of the PI observers with respect to the presence of modelling errors and the robustness of integral observers when sensor noise is present.
Research Interests:
Research Interests:
Research Interests: Computer Science, Distributed Computing, Performance, Resource Allocation, Routing algorithm, and 13 moreTraffic Engineering, Algorithm, Simulation, Computer Network, Scalability, Network Topology, Load Balance, Multipath Routing, Large Scale, Internet, Multi Path Routing, Differentiated Services, and Sensor technologies
ABSTRACT Multipath routing scheme for load balancing consists in two steps: selection of multiple candidate paths and splitting the traffic among selected paths. New traffic splitting scheme is proposed using prospect of the effective... more
ABSTRACT Multipath routing scheme for load balancing consists in two steps: selection of multiple candidate paths and splitting the traffic among selected paths. New traffic splitting scheme is proposed using prospect of the effective repartition and three hybrid multipath algorithms are organized by combining each step of LDM (load distribution over MPLS network) and WDP (widest disjoint path) selected among the existing schemes, and proposed new traffic splitting algorithm. For performance estimation, we have simulated some existing routing algorithms using ns-2 and have compared their results with three hybrids' results in terms of maximum link utilization ratio. The results show that three hybrid algorithms, especially LBWDP with our new traffic splitting scheme, surpasses the others as the number of demands grows.
Research Interests:
Research Interests:
Research Interests:
The fully distributed consensus tracking of stochastic nonlinear multiagent systems (MASs) is investigated with Markovian switching topologies and intermittent control strategy, where the dynamics of agents are depicted by Itô... more
The fully distributed consensus tracking of stochastic nonlinear multiagent systems (MASs) is investigated with Markovian switching topologies and intermittent control strategy, where the dynamics of agents are depicted by Itô differential equations and the leader’s information is just known for a fraction of followers. The switching mechanism of interaction topologies is modeled as a Markov process. A novel class of fully distributed control protocols is proposed via intermittent control method, which is only associated with the relative state measurements of neighbors and does not involve any global information. Meanwhile, the control gains are designed to be intermittently adaptive, which can effectively reduce energy consumption and avoid the gains being larger than those needed in practice. Several sufficient conditions and corresponding proofs are provided by using the Lyapunov stability theory. Finally, numerical simulation is presented to state the feasibility of the theoretical results.
Research Interests:
At present, methods guaranteeing reliable adsorption of biped wall climbing robot can be divided into two types: structural innovation design and improved control strategy, however, there are some problems such as increasing volume,... more
At present, methods guaranteeing reliable adsorption of biped wall climbing robot can be divided into two types: structural innovation design and improved control strategy, however, there are some problems such as increasing volume, energy consumption and limited scope of application. Aiming at the reliable adsorption problem of biped wall climbing robot, a torque optimization method based on genetic algorithm is proposed. Based on the analysis of the relationship between the adsorption load and the reliability index, the adsorption reliability and the compliance index are taken into account and the genetic algorithm is used to get the global optimization solutions so as to achieve comprehensive optimization. The simulation and analysis of the proposed method are carried out, and the prototype experiments are conducted in the simulated environment of vertical steel wall in the lab. The results show that the method is effective for improving the adsorption reliability of biped wall-climbing robot.
Research Interests:
This paper presents a motion distribution-based triple-trajectory tracking method for a high redundant Mobile Dual-Arm Manipulator System (MDAMs) which acts as a personal assistant. The MDAMs consists of one non-holonomic mobile platform,... more
This paper presents a motion distribution-based triple-trajectory tracking method for a high redundant Mobile Dual-Arm Manipulator System (MDAMs) which acts as a personal assistant. The MDAMs consists of one non-holonomic mobile platform, one holonomic body with a moving waist, two 7-DoFs arms and two dexterous hands. Inspired by human movement determination, a new subtask is introduced, i.e., the relative motion of the right end-effector (EE) with respect to its body frame. Two relative task variables are introduced which allow the control of the right EE in the world frame and the left EE with respect to the right EE. Moreover, two compact relative Jacobian matrices are constructed to link the joint space with the task space. Furthermore, the task-priority based inverse kinematic (IK) solving method is applied by using pseudo-inverse Jacobian matrix. Finally, a semi-decentralized control law is proposed for the MDAMs with kinematic control law for the mobile part. This paper builds a mathematical MDAMs model and numerically simulates a triple-trajectory tracking by using the proposed control law. The simulation results validate the effectiveness of the triple-trajectory tracking control method.
Research Interests:
Research Interests:
International audienc
Research Interests:
This paper presents a unified framework of time-varying formation (TVF) design for general linear multi-agent systems (MAS) based on an observer viewpoint from undirected to directed topology, from stabilization to tracking and from a... more
This paper presents a unified framework of time-varying formation (TVF) design for general linear multi-agent systems (MAS) based on an observer viewpoint from undirected to directed topology, from stabilization to tracking and from a leader without input to a one with bounded input. The followers can form a TVF shape which is specified by piecewise continuously differential vectors. The leader's trajectory, which is available to only a subset of followers, is also time-varying. For the undirected formation tracking and directed formation stabilization cases, only the relative output measurements of neighbors are required to design control protocols; for the directed formation tracking case, the agents need to be introspective (i.e. agents have partial knowledge of their own states) and the output measurements are required. Furthermore, considering the real applications, the leader with bounded input case is studied. One main contribution of this paper is that fully distributed ...
Research Interests:
This paper investigates consensus tracking of nonlinear fractional-order multi-agent systems based on sliding mode estimator under directed network topology. To achieve consensus tracking, the control input is designed using sliding mode... more
This paper investigates consensus tracking of nonlinear fractional-order multi-agent systems based on sliding mode estimator under directed network topology. To achieve consensus tracking, the control input is designed using sliding mode estimator. Then, a theorem is given to prove the effectiveness of the above control input when the demanded conditions are satisfied, where the fractional-order Lyapunov direct method is applied. Finally, the obtained results are verified by numerical simulations.
Research Interests:
International audienc
Research Interests:
Etude comparee de modeles de routage multi-chemins pour l'ingenierie de tra c Khodor ABBOUD, Ahmed RAHMANI Laboratoire d'Automatique, Genie Informatique et Signal Ecole Centrale de Lille, BP 48, 59651 Villeneuve d'Ascq Cedex,... more
Etude comparee de modeles de routage multi-chemins pour l'ingenierie de tra c Khodor ABBOUD, Ahmed RAHMANI Laboratoire d'Automatique, Genie Informatique et Signal Ecole Centrale de Lille, BP 48, 59651 Villeneuve d'Ascq Cedex, France {khodor.abboud,ahmed.rahmani}@ec-lille.fr Resume Cet article presente une evaluation du compor-tement d'algorithmes de routage multi-chemins (PEMS,LBWDP) pour l'ingenierie de tra c et l'equilibrage decharge sur un reseau MPLS (MPLS-TE). Nous comparonsnotamment la capacite de ces algorithmes a equilibrer lacharge tout en faisant de la dierentiation de tra c. Ces al-gorithmes seront appliques sur des grandes topologies, quis'approchent du reseau reel, pour mesurer l'impact de leurcomplexite respective et donc la capacite a les deployer surdes reseaux de grande taille (scalabilite). En utilisant destopologies generees par BRITE avec de nombreux cheminsalternatifs, on peut realiser des simulations sur des reseauxdont la topo...
Research Interests:
Research Interests:
Colloque de Recherche Inter Ecoles Centrales, CRIEC 201
Research Interests:
This paper presents a methodology for dynamic modeling and trajectory tracking of a nonholonomic wheeled mobile manipulator with dual arms. First, the kinematic model is set up based on modified D-H principle. Then we employ an... more
This paper presents a methodology for dynamic modeling and trajectory tracking of a nonholonomic wheeled mobile manipulator with dual arms. First, the kinematic model is set up based on modified D-H principle. Then we employ an energy-based approach for modeling and its bond graph notation ensures encapsulation of functionality, extendibility and reusability of each element of the model. A toolbox BG V.2.1 in Matlab/Simulink is used for simulation and validation. Simulation results are performed to illustrate the efficacy of the proposed dynamic model. Keywords—Bond graph modeling, mobile manipulator, dual-arm, trajectory tracking
Research Interests:
Research Interests:
With the increasing demand for personal assistant robots, a hyper-redundant non-holonomic mobile dualarm manipulator system (MDAMS) which interacts with human beings in a domestic environment is introduced and a virtual prototype is... more
With the increasing demand for personal assistant robots, a hyper-redundant non-holonomic mobile dualarm manipulator system (MDAMS) which interacts with human beings in a domestic environment is introduced and a virtual prototype is established. In order to further construct the real robots, a task priority and relative Jacobian matrix-based semi-decentralized motion tracking and object manipulation strategy is proposed in this paper. To facilitate the modeling process, the forward kinematics are constructed using Modified Denavit Hartenberg (MDH) method with coupling investigation among the non-holonomic mobile base (MB), upper moving body and two arms. Besides, a task priority and relative Jacobian matrix-based inverse kinematic solving method is designed to deal with the hyper- redundancy problem induced by MB and redundant arms. The relative motion between two end-effectors (EE) is defined by introducing a compact relative Jacobian matrix. Furthermore, the unit quaternion is em...
Research Interests:
This paper presents a methodology for dynamic modeling and trajectory tracking of a dexterous hand. Firstly, the kinematic model is set up based on modified D-H principle. Then we employ an energy-based approach for modeling and its bond... more
This paper presents a methodology for dynamic modeling and trajectory tracking of a dexterous hand. Firstly, the kinematic model is set up based on modified D-H principle. Then we employ an energy-based approach for modeling and its bond graph notation ensures encapsulation of functionality, extendibility and reusability of each element of the model. A toolbox BG V.2.1 in Matlab/Simulink is used for simulation and validation. Simulation results are performed to illustrate the efficacy of the proposed dynamic model. Keywords—Dexterous hand, bond graph modeling, trajectory tracking
Research Interests:
This paper investigates the cluster consensus of multi-agent systems (MASs) with general linear and nonlinear dynamics via intermittent adaptive pinning control, where each cluster has a virtual leader whose state can be sensed by only a... more
This paper investigates the cluster consensus of multi-agent systems (MASs) with general linear and nonlinear dynamics via intermittent adaptive pinning control, where each cluster has a virtual leader whose state can be sensed by only a small part of followers on some disconnected time intervals because of communication constraints. The communication topology is considered to be weakly connected, that is, it is not necessary to be in-degree balanced, strongly connected or contain a directed spanning tree. To realise the cluster consensus, a class of intermittent adaptive pinning control protocols is proposed according to difference that the agents receive information source. The pinning gains are designed to be intermittent adaptive and with an exponential convergence rate, which will effectively reduce communication costs, avoid the pinning gains being larger than those needed in practice. Meanwhile, it guarantees that the pinning gains quickly converge to steady value. Correspond...
Research Interests:
Research Interests:
Research Interests:
Research Interests:
Research Interests:
Research Interests:
Research Interests:
Research Interests:
In this paper, group multiple lags consensus of fractional-order leader-following multi-agent systems with nonlinear dynamics are investigated, in which two kinds of lag consensus are considered. One is said to be outergroup lag... more
In this paper, group multiple lags consensus of fractional-order leader-following multi-agent systems with nonlinear dynamics are investigated, in which two kinds of lag consensus are considered. One is said to be outergroup lag consensus, which means that different group leaders reach lag consensus. The other one is called innergroup lag consensus, that is to say, the followers will reach lag consensus with their own group leader. Based on Mittag–Leffler stability for fractional-order systems, algebraic graph theory, a class of novel control protocols is designed and the corresponding sufficient conditions are derived to guarantee the achievement of group multiple lags consensus. Furthermore, considering parametric uncertainties, an adaptive control technology is employed to solve the group multiple lags consensus for fractional order multi-agent systems, and the corresponding adaptive control protocols and sufficient conditions are proposed. Finally, numerical simulations are give...
Research Interests:
Research Interests:
Research Interests:
Research Interests:
Research Interests:
ABSTRACT This article investigates the control problem for formation tracking of multiple nonholonomic robots under distributed manner which means each robot only needs local information exchange. A class of general state and input... more
ABSTRACT This article investigates the control problem for formation tracking of multiple nonholonomic robots under distributed manner which means each robot only needs local information exchange. A class of general state and input transform is introduced to convert the formation-tracking issue of multi-robot systems into the consensus-like problem with time-varying reference. The distributed observer-based protocol with nonlinear dynamics is developed for each robot to achieve the consensus tracking of the new system, which namely means a group of nonholonomic mobile robots can form the desired formation configuration with its centroid moving along the predefined reference trajectory. The finite-time stability of observer and control law is analysed rigorously by using the Lyapunov direct method, algebraic graph theory and matrix analysis. Numerical examples are finally provided to illustrate the effectiveness of the theory results proposed in this paper.