Papers by Mohamed Boukattaya
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In this paper, we study the problem of trajectory tracking control for autonomous marines vehicle... more In this paper, we study the problem of trajectory tracking control for autonomous marines vehicles using robust sliding-mode controller. The proposed algorithm achieves good tracking performance of marine vehicle in the open sea in which there exist severe environmental disturbances and unknowns dynamic parameters. First, the dynamic model in task space of the marine vehicle system in horizontal motion is designed. By using position and velocity tracking errors, a robust controller is then developed based on a linear sliding-mode surface. The designed algorithm is chattering free due to hyperbolic tangent function in switching part. Based on the Lyapunov theorem, the stability in closed-loop system is guaranteed and the convergence of the position and velocity tracking errors are obtained. In addition, the robustness of the controller is verified when disturbances and uncertainties are introduced in the system. Extensive simulations are conducted to demonstrate the validity of the proposed algorithm.
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International Journal of Automation and Computing, Feb 1, 2011
This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator... more This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task
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In this paper, a dynamic trajectory tracking controller is proposed for controlling a redundant m... more In this paper, a dynamic trajectory tracking controller is proposed for controlling a redundant mobile manipulator system. Firstly, the kinematic and dynamic models of the system under nonholonomic constraint is formulated. Then, a dynamic control algorithm is given by decoupling the overall movement of the system in task space movement and null space movement. The control of the two sub-spaces can be designed independently such that the priority is always given to the primary task. In order to enhance the performance of the system, a self-tuning fuzzy PD controller is used to control the main task and a Backstepping based fuzzy dynamic control is utilized to control the internal motion. Simulations are conducted to show the high-precision, the small control effort and the good robustness of the proposed intelligent algorithm in comparison with a conventional dynamic redundancy controller.
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In this paper a new adaptive control technique for path tracking of nonholonomic mobile robot is ... more In this paper a new adaptive control technique for path tracking of nonholonomic mobile robot is designed to deal with unknown skidding and slipping as well as external disturbances. The main contribution of the proposed controller consists on the estimation and attenuation of the effect of disturbances and unknown skidding and slipping simultaneously without the need of torque measurement. First, a desired velocity input is designed using Backstepping techniques. Then, an adaptive dynamic controller, which contains two adaptive laws, is proposed to guarantee good tracking performance. The system stability and the convergence of the tracking errors are rigorously proven using Lyapunov stability theory. Finally, simulation results are illustrated to show the effectiveness of the proposed controller in comparison with the classic sliding mode control.
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Multibody System Dynamics, May 11, 2018
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Isa Transactions, Jun 1, 2018
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2022 IEEE 21st international Ccnference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), Dec 19, 2022
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In this paper, a novel trajectory tracking control for nonholonomic wheeled mobile robot that int... more In this paper, a novel trajectory tracking control for nonholonomic wheeled mobile robot that integrates kinematic controller and adaptive dynamic controller is proposed. The wheel actuator dynamics (DC motor) is taken into account, so that the actuator input voltages are the control inputs. The proposed controller is designed such that it copes with uncertainties and external disturbances. The system stability and boundness of the tracking errors are proved using the Lyapunov stability theory. The efficacy of the developed control strategy is confirmed by simulation results.
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This paper deals with the trajectory tracking control problem of nonholonomic wheeled mobile robo... more This paper deals with the trajectory tracking control problem of nonholonomic wheeled mobile robot. First a kinematic controller is designed for WMR. Secondly, an adaptive dynamic controller is proposed to make mobile robot achieve velocity command, with consideration of unknown model parameters. The stability of the controllers is proven by utilizing the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes.
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IEEE Conference Proceedings, 2016
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This paper illustrates trajectory tracking control of nonholonomic system, which is mobile robot ... more This paper illustrates trajectory tracking control of nonholonomic system, which is mobile robot (MR). In order to resolve the tracking issue, kinematic and adaptive dynamic controllers are presented. The wheel actuator dynamics (DC motor) is taken into account. Therefore, the control inputs are the actuator input voltages. The developed control law is able to cope with unknown dynamics. The convergence of the tracking errors to zero and the stability of the system are shown by the Lyapunov stability method. Computer simulations are included to show the robustness of the developed controller.
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2022 IEEE 21st international Ccnference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), Dec 19, 2022
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2022 IEEE 21st international Ccnference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), Dec 19, 2022
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Studies in systems, decision and control, 2020
In this chapter, a new control approach for trajectory tracking problem of nonholonomic wheeled m... more In this chapter, a new control approach for trajectory tracking problem of nonholonomic wheeled mobile robot (WMR) is proposed to cope with both uncertainties and external torque disturbances. The main contribution is the simultaneous exact estimation and cancelation of uncertainties and external torque disturbances without the requirement of torque measurement. First, a kinematic backstepping controller is proposed to achieve perfect velocity tracking. Then, a robust dynamic adaptive control algorithm with two update laws is developed to estimate and compensate the dynamic uncertainties and the unmeasured external torque disturbances. The design of the update laws use only position and velocity measurements and are derived from the Lyapunov stability theorem. Consequently, the proposed controllers prove that they not only can guarantee the stability and the trajectory tracking error is as small as possible but also the boundedness of all the states and signals of the closed-loop system and the convergence of the estimated disturbance to the real values. Finally, the simulation results demonstrate good tracking performance and robustness of the proposed controller.
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This paper designs an adaptive sliding mode dynamic controller for the trajectory tracking of whe... more This paper designs an adaptive sliding mode dynamic controller for the trajectory tracking of wheeled mobile robot. First, a kinematic controller is introduced for the wheeled mobile robot. Then, the adaptive sliding mode dynamic controller (ASMDC) is proposed to make the real velocity of the wheeled mobile robot reach the desired velocity command, in presence of system uncertainties and disturbances. The convergence of the complete equations of motion of wheeled mobile robot is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed controller.
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ABSTRACT This paper deals with the trajectory tracking control problem of nonholonomic wheeled mo... more ABSTRACT This paper deals with the trajectory tracking control problem of nonholonomic wheeled mobile robot, in the presence of external disturbances and parameters uncertainties. The computed torque controller may be used to make convergence of WMR on desired trajectory. Due to the weak of performance against external disturbances, a sliding mode controller is presented. The stability of the controllers is proven by utilizing the Lyapunov stability theory.
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This paper presents an adaptive nonsingular finite-time sliding mode control, for a class of seco... more This paper presents an adaptive nonsingular finite-time sliding mode control, for a class of second-order nonlinear systems in the presence of uncertainties and disturbances. The core idea involves employing an adaptive mechanism to estimate the unknown upper bounds associated with system uncertainty. These estimates are then utilized as controller parameters, effectively neutralizing the impact of uncertain dynamics and external disturbances. Importantly, this technique ensures finite-time convergence of errors without encountering singularities. Consequently, the control inputs remain smooth and bounded throughout the entire tracking process. Additionally, the proposed algorithm offers an appropriate coordinate transformation, enabling its adaptation for a broad spectrum of electromechanical systems, with particular emphasis on robotic manipulators. The closed-loop system's stability is substantiated through the Lyapunov stability theorem. Through simulation results, the paper...
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International Journal of Fuzzy Systems, Feb 14, 2023
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International Journal of Fuzzy Systems
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Papers by Mohamed Boukattaya