Browsing by Author "Cherifi, Karim"

Filter results by typing the first few letters
Now showing 1 - 3 of 3
  • No Thumbnail Available
    Item
    Control Design and Visual Autonomous Navigation of Quadrotor
    (IEEE, 2019) Boughellaba, Mouaad; Boushaki Zamoum, Razika; Rabah Hazila, Ramzi; Cherifi, Karim
    In this paper, an autonomous navigation and obstacle avoidance system based on monocular camera has been designed and implemented which enables the quadrotor to navigate in a previously unknown GPS-denied environment. Moreover, four controllers have been designed, simulated and their performance were compared. The various control strategies are LQR, PID, Feedback Linearization with pole placement and Sliding Mode control.Sensor data and the camera video stream have been used by a Key-frame visual simultaneous localization and mapping (SLAM) system to compute the location of the drone and generate the 3D map of the environment in the form of point cloud. This point cloud data is clustered and used for obstacle detection. Moreover a probabilistic roadmap (PRM) algorithm has been used to generate a collision-free path that will be followed by the drone based on the chosen controller.We implemented our approach on a Parrot ARDrone2.0, and the theoretical results have been validated with experiments. All computations are performed on a ground station, which is connected to the drone via wireless LAN
  • No Thumbnail Available
    Item
    Minimal realizations of MIMO systems
    (2019) Cherifi, Karim
    Minimal realization permits to accurately represent a system in state space form with a minimal order. This research work presents some important results in system modelling concerning minimal realization and model reduction. The first result is about minimal realizations of MIMO LTI systems. The resulting form is in a canonical form. The second result is about model reduction based on matrix polynomials. These two presented algorithms are specifically designed for MIMO systems. Finally, important results for minimal realization of Port Hamiltonian systems are presented. These results are unprecedented and constitute an important step in Port Hamiltonian systems modelling
  • No Thumbnail Available
    Item
    Review of MIMO minimal realization techniques and case study on SCARA robot manipulator
    (Praise Worthy Prize, 2017) Cherifi, Karim; Hariche, Kamel