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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Robotics and Automation (IJRA)
Benbrahim, Mohammed
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Automotive Engineering Computer Science & IT Electrical & Electronics Engineering

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A robust super twisting fractional-order sliding mode-based control of vehicle longitudinal dynamic subjected to a constant actuator fault Abzi, Imane; Kabbaj, Mohammed Nabil; Benbrahim, Mohammed
International Journal of Electrical and Computer Engineering (IJECE) Vol 13, No 6: December 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v13i6.pp6185-6194

Abstract

This paper deals with the design and analysis of a super twisting fractional-order sliding mode controller (ST-FOSMC) to adjust the vehicle longitudinal dynamic when braking. While vehicle loading, road types, and modeling uncertainties are time-varying parameters, the control law must be robust against these disturbances. Also, the aging of the brake plate may introduce a difference between the control output and the actuator response that should be considered. The proposed control strategy has been used to enable the anti-lock braking system (ABS) to track the desired wheel slip value despite the presence of disturbances and constant actuator fault. The design of this controller is presented and the system stability is guaranteed by applying the Lyapunov theory. We carried out a simulation example that makes a comparison between our controller and the one based on the fractional-order sliding mode control to investigate which one of them outperforms the other. The results exhibit the superiority of the super twisting fractional order controller over the traditional fractional-order sliding mode controller during the braking phase.
IoT-based smart irrigation management system using real-time data Hafian, Asmae; Benbrahim, Mohammed; Kabbaj, Mohammed Nabil
International Journal of Electrical and Computer Engineering (IJECE) Vol 13, No 6: December 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v13i6.pp7078-7088

Abstract

An adequate water supply is essential for the growth and development of crops. When rainfall is insufficient, irrigation is necessary to meet crop water needs. It is a crucial and strategic aspect of economic and social development. To combat climate change, there is a need to adopt irrigation management techniques that increase and stabilize agricultural production while saving water, using intelligent agricultural water technologies. Internet of things (IoT) based technologies can achieve optimal use of water resources. This article introduces a smart realtime irrigation management system based on the internet of things. It provides optimal management of irrigation decisions using real-time weather and soil moisture data, as well as data from precipitation forecasts. The proposed algorithm is developed in real-time based on the IoT, enabling us to guide irrigation and control the amount of water in agricultural applications. The system uses real-time data analysis of climate, soil, and crop data to provide flexible planning of the irrigation system’s use. A case study from the Fez-Meknes region in Morocco is presented to demonstrate the proposed system’s effectiveness
New time delay estimation-based virtual decomposition control for n-DoF robot manipulator Faqihi, Hachmia; Benjelloun, Khalid; Saad, Maarouf; Benbrahim, Mohammed; Kabbaj, M. Nabil
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 3: September 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i3.pp192-206

Abstract

One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.
Virtual decomposition with time delay control for underactuated robot manipulator Cheikh, Imane; Omali, Khaoula Oulidi; Faqihi, Hachmia; Benbrahim, Mohammed; Kabbaj, Mohammed Nabil
International Journal of Electrical and Computer Engineering (IJECE) Vol 16, No 2: April 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v16i2.pp791-805

Abstract

The importance of controlling robot manipulators is undeniable. However, faults in these systems can significantly impact the workspace environment and personal safety. To address these challenges, a new adaptive approach has been proposed that easily adapts to a faulty actuator while precisely tracking its desired position. The virtual decomposition control (VDC) method decomposes the robot into subsystems, each with its sub-controller, while ensuring the overall system remains stable. Meanwhile, time delay estimation (TDE) is used to estimate unknown and uncertain parameters. A co-simulation was conducted to test the TD-VDC method on a 6 DoFs robot, which becomes underactuated during its running. The results of the root main square error of the proposed controller were lower of 6% than those of sliding mode control based on partial feedback linearization control (SMC-PFLC), which proves the proposal's effectiveness and efficiency.
Co-Authors Abzi, Imane Benjelloun, Khalid Cheikh, Imane Faqihi, Hachmia Hafian, Asmae Kabbaj, M. Nabil Kabbaj, Mohammed Nabil Omali, Khaoula Oulidi Saad, Maarouf