Exponential State Enclosure Techniques for the Implementation of Validated Model Predictive Control
Mohamed Fnadi, Andreas Rauh. Exponential State Enclosure Techniques for the Implementation of Validated Model Predictive Control. Acta Cybernetica, 2024, ⟨10.14232/actacyb.302013⟩. ⟨hal-04726094⟩
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A Discrete Integral Sliding Manifold for a Nonlinear System with Time Delay: An Event-Triggered Scheme
Yassine Benyazid, Mohamed Fnadi, Ahmed Said Nouri. A Discrete Integral Sliding Manifold for a Nonlinear System with Time Delay: An Event-Triggered Scheme. Mathematics , 2023, 11 (10), pp.2326. ⟨10.3390/math11102326⟩. ⟨hal-04102138⟩
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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
Andreas Rauh, Marit Lahme, Simon Rohou, Luc Jaulin, Thach Ngoc Dinh, et al.. Offline and Online Use of Interval and Set-Based Approaches for Control and State Estimation: A Review of Methodological Approaches and Their Application. Logical Methods in Computer Science, In press, ⟨10.48550/arXiv.2309.11622⟩. ⟨hal-04238093⟩
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A New Whole-body Motion Generator and Adaptive Altitude Control for a Quadruped-on-Wheel Robot
Wenqian Du, Mohamed Fnadi, Faiz Benamar. A New Whole-body Motion Generator and Adaptive Altitude Control for a Quadruped-on-Wheel Robot. Journal of Mechanisms and Robotics, 2022, pp.1-12. ⟨10.1115/1.4055060⟩. ⟨hal-03738514⟩
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Validated Model Predictive Control based on Exponential Enclosures
Mohamed Fnadi, Andreas Rauh. Validated Model Predictive Control based on Exponential Enclosures. 13th Summer Workshop on Interval Methods, Jul 2022, Hanover, Germany. ⟨hal-03725171⟩
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Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots
Wenqian Du, Mohamed Fnadi, Faïz Benamar. Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots. Multibody System Dynamics, 2022, 54, pp.235-262. ⟨10.1007/s11044-021-09809-6⟩. ⟨hal-03540192⟩
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Leg Centroidal Dynamics Based New Locomotion Principle of a Quadruped Robot with On-line Legged Motion Generation
Wenqian Du, Mohamed Fnadi, Etienne Moullet, Faïz Benamar. Leg Centroidal Dynamics Based New Locomotion Principle of a Quadruped Robot with On-line Legged Motion Generation. Journal of Intelligent and Robotic Systems, 2021, 103 (4), pp.70. ⟨10.1007/s10846-021-01503-1⟩. ⟨hal-03514769⟩
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Experimental Validation of a Guaranteed Nonlinear Model Predictive Control
Mohamed Fnadi, Julien Alexandre Dit Sandretto. Experimental Validation of a Guaranteed Nonlinear Model Predictive Control. Algorithms, 2021, 14 (8), pp.248. ⟨10.3390/a14080248⟩. ⟨hal-03514746⟩
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Guaranteed Identification of Viscous Friction for a Nonlinear Inverted Pendulum Through Interval Analysis and Set Inversion
Mohamed Fnadi, Julien Alexandre Dit Sandretto, Gabriel Ballet, Laurent Pribourg. Guaranteed Identification of Viscous Friction for a Nonlinear Inverted Pendulum Through Interval Analysis and Set Inversion. 2021 American Control Conference (ACC), May 2021, New Orleans, France. pp.3920-3926, ⟨10.23919/ACC50511.2021.9483185⟩. ⟨hal-03430402⟩
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Constrained Model Predictive Control for Dynamic Path Tracking of a Bi-steerable Rover on Slippery Grounds
Mohamed Fnadi, Wenqian Du, Frédéric Plumet, Faïz Benamar. Constrained Model Predictive Control for Dynamic Path Tracking of a Bi-steerable Rover on Slippery Grounds. Control Engineering Practice, 2020, 107, pp.104693. ⟨10.1016/j.conengprac.2020.104693⟩. ⟨hal-03151883⟩
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Rolling based locomotion on rough terrain for a wheeled quadruped using centroidal dynamics
Wenqian Du, Mohamed Fnadi, Faïz Ben Amar. Rolling based locomotion on rough terrain for a wheeled quadruped using centroidal dynamics. Mechanism and Machine Theory, 2020, 153, pp.103984. ⟨10.1016/j.mechmachtheory.2020.103984⟩. ⟨hal-03177960⟩
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Local obstacle-skirting path planning for a fast bi-steerable rover using béziers curves
Mohamed Fnadi, Wenqian Du, Frédéric Plumet, Faiz Ben Amar. Local obstacle-skirting path planning for a fast bi-steerable rover using béziers curves. 2020 International Conference on Robotics and Automation (ICRA), 2020, Paris, France. pp.1-9. ⟨hal-03135862⟩
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Whole-body motion tracking for a quadruped-on-wheel robot via a compact-form controller with improved prioritized optimization
Wenqian Du, Mohamed Fnadi, Faïz Ben Amar. Whole-body motion tracking for a quadruped-on-wheel robot via a compact-form controller with improved prioritized optimization. IEEE Robotics and Automation Letters, 2020, 5 (2), pp.516-523. ⟨10.1109/LRA.2019.2963822⟩. ⟨hal-03177954⟩
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Commande prédictive et estimation des paramètres d’environnement pour un rover rapide
Mohamed Fnadi. Commande prédictive et estimation des paramètres d’environnement pour un rover rapide. Automatique / Robotique. Sorbonne Université, 2019. Français. ⟨NNT : 2019SORUS637⟩. ⟨tel-03196900v2⟩
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Road bank and road grade angles estimation for a double steering off- road mobile robot
Mohamed Fnadi, Frédéric Plumet, Faiz Ben Amar. Road bank and road grade angles estimation for a double steering off- road mobile robot. IFToMM World Congress on Mechanism and Machine Science, 2019, Krakow, Poland. pp.1771-1780. ⟨hal-03135864⟩
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Model predictive control based dynamic path tracking of a four-wheel steering mobile robot
Mohamed Fnadi, Frédéric Plumet, Faiz Ben Amar. Model predictive control based dynamic path tracking of a four-wheel steering mobile robot. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), 2019, Macao, Unknown Region. pp.1-9. ⟨hal-03135865⟩
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Nonlinear tire cornering stiffness observer for a double steering off-road mobile robot
Mohamed Fnadi, Frédéric Plumet, Faiz Ben Amar. Nonlinear tire cornering stiffness observer for a double steering off-road mobile robot. 2019 International Conference on Robotics and Automation (ICRA), 2019, Montreal, Canada. pp.7529-7534. ⟨hal-03135863⟩
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Path tracking control for a double steering off-road mobile robot
Mohamed Fnadi, Bachir Menkouz, Frédéric Plumet, Faiz Ben Amar. Path tracking control for a double steering off-road mobile robot. ROMANSY 22−Robot Design, Dynamics and Control, 2018, Rennes, France. pp.441-449. ⟨hal-03135866⟩
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