Search Results - "Fnadi, Mohamed"

Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots by Du, Wenqian, Fnadi, Mohamed, Benamar, Faïz

“…This paper proposes to integrate our prioritized impedance controller (PIC) into four kinds of improved hierarchical operational-space torque-control…”
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Leg Centroidal Dynamics Based New Locomotion Principle of a Quadruped Robot with On-line Legged Motion Generation by Du, Wenqian, Fnadi, Mohamed, Moullet, Etienne, Benamar, Faïz

“…This paper proposes a novel legged locomotion principle for tracking the quadruped-robot base spatial motion which can generate automatically the trotting and…”
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Experimental Validation of a Guaranteed Nonlinear Model Predictive Control by Fnadi, Mohamed, Alexandre dit Sandretto, Julien

“…This paper combines the interval analysis tools with the nonlinear model predictive control (NMPC). The NMPC strategy is formulated based on an uncertain…”
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A Discrete Integral Sliding Manifold for a Nonlinear System with Time Delay: An Event-Triggered Scheme by Benyazid, Yassine, Fnadi, Mohamed, Nouri, Ahmed Said

“…This paper presents a new approach to integral sliding mode control for discrete nonlinear systems with time delay. The approach is based on an event-triggered…”
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Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots by Du, Wenqian, Fnadi, Mohamed, Benamar, Faïz

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Constrained Model Predictive Control for dynamic path tracking of a bi-steerable rover on slippery grounds by Fnadi, Mohamed, Du, Wenqian, Plumet, Frédéric, Benamar, Faïz

“…The research works carried out in this paper deal with the control of a fast double-steering off-road mobile robot. Such kind of robots requires very high…”
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Rolling based locomotion on rough terrain for a wheeled quadruped using centroidal dynamics by Du, Wenqian, Fnadi, Mohamed, Benamar, Faïz

“…•We propose one wheel motion generator to track the wheeled-quadruped centroidal motion.•Wheel contact constraints are established using spatial vectors and…”
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Model Predictive Control based Dynamic Path Tracking of a Four-Wheel Steering Mobile Robot by Fnadi, Mohamed, Plumet, Frederic, Benamar, Faiz

“…This paper develops a new constrained model predictive control for a dynamic path tracking of an off-road mobile robot with a double steering axle. The…”
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Whole-Body Motion Tracking for a Quadruped-on-Wheel Robot via a Compact-Form Controller With Improved Prioritized Optimization by Du, Wenqian, Fnadi, Mohamed, Benamar, Faiz

“…This letter develops a more general dynamics controllerto generate whole-body behaviors fora quadruped-on-wheel robot. To track the quadruped centroidal…”
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Offline and Online Use of Interval and Set-Based Approaches for Control and State Estimation: A Review of Methodological Approaches and Their Application by Rauh, Andreas, Lahme, Marit, Rohou, Simon, Jaulin, Luc, Dinh, Thach Ngoc, Raissi, Tarek, Fnadi, Mohamed

“…Control and state estimation procedures need to be robust against imprecisely known parameters, uncertainty in initial conditions, and external disturbances…”
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Nonlinear Tire Cornering Stiffness Observer for a Double Steering Off-Road Mobile Robot by Fnadi, Mohamed, Plumet, Frederic, Benamar, Faiz

“…Path tracking controllers for an autonomous vehicle are often designed by using either a dynamic model or a kinematic one and some models are related to…”
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Offline and Online Use of Interval and Set-Based Approaches for Control and State Estimation: A Selection of Methodological Approaches and Their Application by Rauh, Andreas, Lahme, Marit, Rohou, Simon, Jaulin, Luc, Dinh, Thach Ngoc, Raissi, Tarek, Fnadi, Mohamed

“…Control and state estimation procedures need to be robust against imprecisely known parameters, uncertainty in initial conditions, and external disturbances…”
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Guaranteed Identification of Viscous Friction for a Nonlinear Inverted Pendulum Through Interval Analysis and Set Inversion by Fnadi, Mohamed, dit Sandretto, Julien Alexandre, Ballet, Gabriel, Pribourg, Laurent

“…This paper focuses on the guaranteed identification of viscous friction parameters for a nonlinear inverted pendulum. The method is based on the interval…”
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Local Obstacle-Skirting Path Planning for a Fast Bi-steerable Rover using Bézier Curves by Fnadi, Mohamed, Du, Wenqian, Gomes da Silva, Rafael, Plumet, Frederic, Benamar, Falz

“…This paper focuses on local path planning for obstacle avoidance tasks dedicated to off-road mobile robots. This approach calculates a new local path for the…”
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