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33篇 您的检索式：作者名="GHOMMAM"

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	题名	作者	年代	出处	被引量
1	Distributed active fault tolerant control design against actuator faults for multiple mobile robots显示文摘This paper investigates the active fault tolerant cooperative control problem for a team of wheeled mobile robots whose actuators are subjected to partial or severe faults during the team mission.The cooperative robots network only requires the interaction between local neighbors over the undirected graph and does not assume the existence of leaders in the network.We assume that the communication exists all the time during the mission.To avoid the system's deterioration in the event of a fault,a set of extended Kalman filters(EKFs)are employed to monitor the actuators'behavior for each robot.Then,based on the online information given by the EKFs,a reconfigurable sliding mode control is proposed to take an appropriate action to accommodate that fault.In this research study,two types of faults are considered.The first type is a partial actuator fault in which the faulty actuator responds to a partial of its control input,but still has the capability to continue the mission when the control law is reconfigured.In addition,the controllers of the remaining healthy robots are reconfigured simultaneously to move within the same capability of the faulty one.The second type is a severe actuator fault in which the faulty actuator is subjected to a large loss of its control input,and that lead the exclusion of that faulty robot from the team formation.Consequently,the remaining healthy robots update their reference trajectories and form a new formation shape to achieve the rest of the team mission.	Mahmoud HUSSEIN Jawhar GHOMMAM Azeddine GHODBANE Maarouf SAAD Vahe NERGUIZIAN	2019	Control Theory and Technology2019，17，4：	2
2	Formation path following control of unicycle-type mobile robots显示文摘	Jawhar Ghommam Hasan Mehrjerdi Maarouf Saad	2010	Robotics and Autonomous Systems2010，58，5：	1
3	Global stabilization and tracking control of underactuated surface vessels显示文摘	Ghommam J Mnif F Derbel N	2010	IET Control Theory and Applications2010，4，：	1
4	Nonlinear coordination control for a group of mobile robotsusing a virtual structure显示文摘	Hasan Mehrjerdi Jawhar Ghommam Maarouf Saad	2011	Mechatronics2011，21，7：	1
5	Coordinated path-Following control for a group of underactuated surface vessels 显示文摘	GHOMMAM J MNIF F	2009	IEEE Transactions on Industrial Electronics2009，56，10：	1
6	An Adaptive Full Order Sliding Mode Controller for Mismatched Uncertain Systems显示文摘In this paper, an adaptive full order sliding mode(FOSM) controller is proposed for strict feedback nonlinear systems with mismatched uncertainties. The design objective of the controller is to track a specified trajectory in presence of significant mismatched uncertainties. In the first step the dynamic model for the first state is considered by the desired tracking signal. After the first step the desired dynamic model for each state is defined by the previous one. An adaptive tuning law is developed for the FOSM controller to deal with the bounded system uncertainty. The major advantages offered by this adaptive FOSM controller are that advanced knowledge about the upper bound of the system uncertainties is not a necessary requirement and the proposed method is an effective solution for the chattering elimination from the control signal. The controller is designed considering the full-order sliding surface.System robustness and the stability of the controller are proved by using the Lyapunov technique. A systematic adaptive step by step design method using the full order sliding surface for mismatched nonlinear systems is presented. Simulation results validate the effectiveness of the proposed control law.	Sanjoy Mondal Jawhar Ghommam Maarouf Saad	2017	International Journal of Automation and computing2017，14，2：	1
7	Asymptotic backstepping stabilization of an underactuated surface vessel显示文摘	GHOMMAM J MNIF F BENALI A	2006	IEEE Transactions on Control Systems Technology2006，14，6：	1
8	Homogeneous Finite-Time Consensus Control for Higher-Order Multi-Agent Systems by Full Order Sliding Mode显示文摘	MONDAL Sanjoy GHOMMAM Jawhar SAAD Maarouf	2018	Journal of Systems Science & Complexity2018，31，5：	1
9	Asymptotic backstepping stabilization of an underactuated surface vessel显示文摘	Ghommam J Mnif F	2006	IEEE Transactions on Control Systems Technology2006，14，6：	1
10	Asymptotic backstepping stabilization of an underactuated surface vessel显示文摘	Ghommam J Mnif F Benali A	2006	IEEE Trans on Control Systems Technology2006，14，6：	1
11	Coordinated path following control for a group of underactuated surface vessels显示文摘	Ghommam J Mnif F	2009	IEEE Transactions on Industrial Electronics2009，56，10：	1
12	Formation path fol- lowing control of unicycle-type mobile robots显示文摘	Ghommam J Mebrjerdi H Saad M	2010	Robotics and Autonomous Systems2010，58，5：	1
13	Adaptive coordinated pathfollowing control of non-holonomic mobile robots with quantisedcommunication显示文摘	J Ghommam H Mehrjerdi M Saad F Mnif	2011	IET Control Theory Appl2011，5，17：	1
14	Asymptotic back- stepping stabilization of an underactuated surface vessel显示文摘	Ghommam J Mnif F Benali A	2006	IEEE Transactions on Control System Technology2006，14，6：	1
15	Asymptotic backstepping stabilization of an underactuated surface vehicle显示文摘	GHOMMAM J MNIF F BENALI A	2006	IEEE Transactions on Control Systems Technology2006，14，6：	1
16	Coordinated path-following control for a group of underactuated surface vessels 显示文摘	Ghommam J Mnif F	2009	IEEE Transactions on Industrial Electronics2009，56，10：	1
17	Global stabilization and tracking control of underactuated surface vessels显示文摘	GHOMMAM J MNIF F DERBEL N	2010	IET Control Theory and Applications2010，4，：	1
18	Formation Path Following Control of Unicycle-type Mobile Robots显示文摘	GHOMMAM J MEHRJERDI H SAAD M		0，，05：	1
19	Global stabilization and tracking control of underactuated surface vessels显示文摘	GHOMMAM J MNIF F DERBEL N		0，，01：	1
20	Asymptotic backstepping stabilization of an underactuated surface vessel显示文摘	GHOMMAM J MNIF F	2006	IEEE Transactions on Control Systems Technology2006，14，6：	1

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