Research Publications
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Recent graduate : Habilitation
- L. Beji,
Autonomies des Déplacements des Véhicules Terrestres et Autonomie de Navigation des
Engins Volants et Agents en Formation, Habilitation in Robotics, University of Evry (french manuscript), June 2009.
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Thesis
- Lotfi Beji, "Modélisation, Identification et commande d’un robot parallèle ",
Thesis in Robotics of University of Evry (french manuscript), June 1997. Abstract.
Edited Volume
- L. Beji, S. Otmanee and A. Abichou (eds),
Intelligent systems and automation, American Institute of Physics, (AIP) Conference proceedings, Vol. 1107, 408p. 2009.
(Contents)
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L.Beji and A.Abichou, " Special Issue on: Modelling and/or Control of Multi-Vehicle Formations",
Int. J. of Vehicle Autonomous Systems, Vol.9, Nos. 1/2, 2011.
Special Issue and
Contents
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L.Beji and R.Mlayeh, " Special Issue on: Consensus and Control in Networked Multi-Vehicle Systems",
Int. J. of Vehicle Autonomous Systems, in progress (2013), publication scheduled, june 2014.
CFP.
Journal papers
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N. Zoghlami, L. Beji, R. Mlayeh and A. Abichou "Finite-time consensus in networked dynamic systems",
IEEE Transactions on Automatic Control, submitted January 2013, pdf.
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N. Zoghlami, L. Beji, R. Mlayeh and A. Abichou, "Average consensus in networked dynamic systems",
Automatica, submitted January 2013, pdf.
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A. Khadraoui, L. Beji, S. Otmane and A. Abichou, "Stabilizing control and human scale simulation of ROV navigation",
Ocean Engineering Journal, submitted, November 2013.
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H. Mibar and L. Beji, "Robust Control of an Unmanned Aerial Blimp",
International Review of Aerospace Engineering, Vol. 5, No. 5, pp.209-220, 2012.
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M.A. ElKamel, L. Beji and A. Abichou, "Regulation control-input for multi-vehicle formation",
International Journal of Vehicle Autonomous Systems, Vol. 10, No. 4, pp. 355—373, 2012. pdf.
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A. Abichou, L. Beji and S. Samaali, "Tracking controllers in various navigation plans of
an unmanned aerial blimp",
Int. Journal of Vehicle Autonomous Systems, Vol.9, no.3-4, pp.297-315, 2011.
pdf.
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A. Essghaier, L.Beji, M.A. ElKamel, A.Abichou, and J. Lerbet, " Co-leaders and a flexible virtual structure based formation motion control",
Int. J. of Vehicle
Autonomous Systems, Vol.9, Nos. 1/2, 2011.
pdf
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K.M. Zemalache, L. Beji and H. Maaref, "Control of a drone: study and analysis of the robustness",
Journal of Automation, Mobile Robotics & intelligent Systems, Vol.2, No.1, pp.33-42, 2008.
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K.M. Zemalache, L. Beji and H. Maaref, "Two Inertial Models of X4-Flyers Dynamics,
Motion Planning and Control",Journal of the Integrated Computer-Aided Engineering, Vol.14, No.2, pp.107--119, 2007.
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R. Mlayeh, L. Beji and A. Abichou,
" Yaw-based Control of a X4-bidirectional Flyer
Planar Motion
", Int. J. of Factory Automation, Robotics and Soft
Computing, Vol.2, pp. 166-171, 2007. pdf
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S. Samaali, A Abichou and L. Beji,
" Longitudinal and horizontal stabilization of an
unmanned blimp
", International Journal of Vehicle Autonomous Systems ,
Vol.5, No.1-2, pp.138--157, 2007. ps
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L. Beji, A. Abichou,
" Streamlined Rotors Mini Rotorcraft: Trajectory Generation and
Tracking
", Int. J. of Control Automation, and Systems,
Vol.3, No.1, pp.87--99, 2005. pdf
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L. Beji and A. Abichou,
" Tracking Control of Trim Trajectories of a Blimp for Ascent
and Descent Flight
", International Journal of Control ,
Vol.78, No.10, pp.706--719,
2005. pdf
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L. Beji and Y. Bestaoui,
" Motion Generation and adaptive control method of automated
guided vehicles in road following
", IEEE-Transactions on Intelligent Transportation
Systems Council ,
Vol.6, No.1, pp.113--123, 2005. pdf
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L. Beji, A. Abichou and Y. Bestaoui,
" Position and attitude control of an underactuated
autonomous airship
", Journal of Differential Equations ,
Vol.8, No.3, pp.231--255, 2003. pdf
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L. Beji and M. Pascal, "The kinematics and the full minimal dynamic model of a parallel
robot manipulator",Journal of Nonlinear Dynamics, Vol.18, pp.339--536, 1999. For reference p1
- L. Beji and A. Abichou,
"A singular Perturbation Approach for Tracking Control of a
Parallel Robot Including Motor Dynamics ", International Journal of Control,
Vol.68, No.4, pp.689--707, 1997. For reference p1
Book chapters
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H. Maaref, K.M. Zemalache and L. Beji,, "Self-tunable Fuzzy Inference System: A Comparative
Study for a Drone",
Theoretical advances and applications of fuzzy logic and soft computing , Springer Berlin/Heidelberg, O. Castillo (Ed.),
pp.691--700, 2007. Info
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L. Beji and A. Abichou, " Tracking Control of Automated Guided Vehicles",
Robot Motion Control", Springer Verlag,, Kozlowski, K. (Ed.), pp.49--56, 2007.
Info
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R. Mlayeh, L. Beji and A. Abichou,
" Yaw-based Control of a X4-bidirectional Flyer
Planar Motion
", Recent Advances in Control Systems, Robotics and Automation , Salvatore Pennacchio (Ed.), 2007.
Info
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L. Beji, A. Abichou and N. Azouz,
" Modeling, motion planning and control of the drones
with revolving aerofoils: An outline of the XSF project
", Robot
Motion and Control Recent Developments , Springer VerLag, Kozlowski, K. (Ed.), 2006.
Info
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Y. Bestaoui and L. Beji,
" Modelling and control of Small Autonomous Airships
", Modelling and Control of Mini-Flying Machines , Springer VerLag. Ed. P.
Castillo (Ed.), 2005. Info
International conference papers (lecture Committees)
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N. Zoghlami, L. Beji, R. Mlayeh and A. Abichou, " Finite-time consensus of networked nonlinear systems under directed graph",
European Control Conference (ECC) , submitted, Strasbourg, june 24-27, 2014. pdf
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N. Zoghlami, L. Beji, R. Mlayeh and A. Abichou, " Finite-time average consensus in networked nonlinear
systems ",
19th IFAC World Congress , submitted, Cape Town, South Africa, august 24-29, 2014.
pdf
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A. Khadraoui, L. Beji, S. Otmane and A. Abichou, " Tracking Control of an Underactuated Underwater Vehicle
ROV-Observer",
European Control Conference (ECC) , submitted, Strasbourg, june 24-27, 2014.
pdf
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N. Zoghlami, L. Beji, R. Mlayeh and A. Abichou, " Finite-time consensus and stability of networked non-
linear systems",
52nd IEEE Conference on Decision and Control (CDC) , December 10-13, Florence, Italy, 2013.
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N. Zoghlami, L. Beji, R. Mlayeh and A. Abichou, " Finite time stability and stabilization analysis of interconnected systems",
9th IFAC Symposium on Nonlinear Control Systems (Nolcos) , Toulouse, France, September 4-6, 2013.
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N. Zoghlami, L. Beji, R. Mlayeh and A. Abichou, " Finite-time stabilization of interconnected nonlinear systems",
IEEE Multi-conference on Systems and Control , Hyderabad, India, august 28-30, pp.1188-1193, 2013.
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A. Khadraoui, L. Beji, S. Otmane and A. Abichou, " Explicit homogenous time-varying stabilizing control of a submarine ROV
",
Int. Conf. on Informatics in Control, Automation and robotics (ICINCO), Vol.6, pp.26-32, 2013.
pdf
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N. Zoghlami, L. Beji, R. Mlayeh and A. Abichou, " On the finite-time stability of perturbed systems",
, IEEE Multi-conference on Systems and Control, Dubrovnik, Croatia, pp.1080-1085, 2012.
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L.Beji, M.A. ElKamel and A.Abichou, " A strategy for multi-robot navigation",
CDC-ECC Conference , Orlando, Florida, USA, 2011.
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L.Beji, M.A. ElKamel, A.Abichou, " On the stability of nonholonomic multi-vehicle formation",
Int. Conf. on Swarm Intelligence , ICSI'2011, Cergy, France, 2011. pdf
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L.Beji and A.Abichou, " Control of multi-mobile agent interconnected dynamic of motion",
13th Int. Conf. on Climbing and Walking Robots , CLAWAR'2010, Nagoya, Japan, 2010.
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M.Tahar, K.M.Zemalache, A.Omari, L.Beji and H.Maaref, " Robust fuzzy sliding-mode controller of four rotors UAV",
13th Int. Conf. on Climbing and Walking Robots , CLAWAR'2010, Nagoya, Japan, 2010.
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A.E. ElKamel, L. Beji, J. Lerbet and A. Abichou, " Trajectory generation for a formation of mobile
robots via a flexible virtual structure approach",
12th Int. Conf. on Climbing and Walking
Robots , CLAWAR’09, Istanbul, Turkey, 2009.
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M.A. ElKamel, L. Beji and A. Abichou,
" Multi-vehicle consenus with target capturing
and collision avoidance
", 12th Int. Conf. on Climbing
and Walking Robots, CLAWAR’09, Istanbul, Turkey, 2009.
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M.A. ElKamel, L. Beji and A. Abichou,
" A decentralized formation control method including
self-organization around a target
", 9th Int. IFAC Symposium on Robot
Control, SyRoCo’09, Gifu, Japan, 2009.
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M.A. ElKamel, L. Beji and A. Abichou,
" A novel obstacle avoidance approach for mobile
robot cooperation and target capturing
", Int. Conf. in Intelligent Systems
and Automation , CISA’09, Zarzis, Tunisia, 2009.
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M.A. ElKamel and L. Beji,
" Nonholonomic mobile robots cooperative control for target capturing
", Exhibition on Control, Communication and Automation , INDICON’08, Inde, 2008.
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A.E. ElKamel and L. Beji,
" Flexible virtual consideration in modeling of mobile robot formations
", Int. Conf. in Intelligent Systems and Automation, CISA’09, Zarzis, Tunisia, 2009.
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M.A.ElKamel and L.Beji,
" A strategy for unicycle’s formation control based on Invariance
Principle
", Int. Conf. in Intelligent Systems ans Automation,
, CISA’08, Annaba ALgeria, 2008.
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H. Maaref, K.M. Zemalache and L. Beji,
" Self-tunable fuzzy inference system: a comparative
study for a drone
", Int. Fuzzy Systems Association, IFSA’2007, Cancun, Mexico, 2007.
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L. Beji and A. Abichou,
" racking control of Automated Guided Vehicles
", Sixth IEEE Int. Workshop on Robot Motion and Control , RoMoCo’2007, Bukowy Dworek, Poland, 2007.
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K.M. Zemalache, L. Beji and H. Maaref,
" Motion Planning and Stabilisation of a X4
Bidirectional Rotors using a Neuro-Fuzzy Controller
", 9th Int. Symposium on
Climbing andWalking Robots and Associated Technolgies ,
Royal Military Academy,
Brussels, Belgium, pp. 678-683, 2006.
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K.M. Zemalache, W.Ben yahia, L. Beji and H. Maaref,
" Neuro-Fuzzy System Controlling
a X4-Flyer
", 5th International Symposium on Robotics and Automation ,
San Miguel Regla Hidalgo, México, pp. 460--465, 2006.
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L. Beji, A. Abichou and M.A. ElKamel,
" Vision-based stabilization of the IDP flat output
", 8th Int. Conf. on Climbing and Walking Robots , CLAWAR'05, Londre, UK, 2005.
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R. Slim, A. Abichou and L. Beji,
" Modelling and Control of a X4 bidirectional rotors
", 8th Int. Conf. on Climbing and Walking Robots , CLAWAR'05, Londre, UK, 2005.
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L. Beji and A. Abichou,
" Trajectory Generation and Tracking of a Mini-Rotorcraft
", IEEE Int. Conf. On Robotics and Automations , ICRA'05, Barcelone, Espagne, 2005.
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K.M. Zemalache, L. Beji and H. Maaref,
" Control of an under-actuated system: Application
to a four rotors rotorcraft
", 5th IEEE Int. Conf. on Robotics
and Biomimetics , ROBIO'05
Vol.1, pp.160--230, Hong Kong, China, 2005.
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K.M. Zemalache, L. Beji and H. Maaref,
" Backstepping Control Technique: Application
to an Under-Actuated X4-Flyer
", 1st International in Computer System Information
Technology Conference , ICSIT'05, Vol.1, pp. 151--156, Alger, Algeria, 2005.
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L.Beji, A.Abichou and M.K.Zemalache,
" Smooth control of an X4 bidirectional rotors
flying robot
", 5th IEEE Int. Workshop on Robot Motion and Control , Proc. of RoMoCo’05, Dymaczewo, Poland, 2005.
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K.M. Zemalache, L. Beji and H. Maaref,
" Tracking-control investigation of two X4-
flyers
", 2nd Int. Conf. on Informatics in Control, Automation and
Robotics , Proc. of ICINCO'05, Spain, Vol.2, pp.16--23, 2005.
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L. Beji, A. Abichou and R. Slim,
" Stabilization with motion planning of a four rotor
mini-rotorcraft for terrain missions
", Fourth Int. Conf. on Intelligent
Systems Design and Applications , Proc. of ISDA'04, Budapest, Hungary, 2004.
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L. Beji, A. Abichou and R. Slim,
" Longitudinal and steering stabilization of an underactuated
autonomous vehicle
", International IFAC Symposium on Robot Control , Proc. of SyRoCo'03, Waroclaw, Pologne, 2003.
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A. Abichou, L. Beji and R. Slim,,
" Exponential stabilization of some equilibria of automated
vehicles
", International Conference on Advanced Robotics , Proc. of ICAR'03, Coimbra, Portugal, 2003.
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L. Beji, A. Abichou and Y. Bestaoui,
" Stabilisation of a nonlinear underactuated autonomous
airship- A combined averaging and backstepping approach
", Int.
Workshop on Robot Motion Control , Proc. of RoMoCo'02, Bukowy, Pologne, 2002.>
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L.Beji and Y.Bestaoui,
" An adaptive control method of automated vehicles with integrated
longitudinal and lateral dynamics in road following
", Int. Workshop
on Robot Motion Control , Proc. of RoMoCo'01, Poland, 2001.
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L. Beji and M. Pascal,
" Nonlinear feedback law for tracking control of dc-actuated
robots
", 17th ASME Biennial Conference , Proc. of DETC99/VIB-8382, LasVegas, Nevada,
USA, 1999.
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L. Beji, A. Abichou and M. Pascal,
" Tracking Control of a Parallel Robot in Task
Space
", IEEE-International Conference in Robotics and Automation , Proc. of ICRA'98, Leuven, Belgique, pp.2309--2314, 1998.
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L. Beji, L. Benchikh and P. Joli,
" Dynamic modeling and simulation of a parallel robot
control
", IEEE Systems, Mans and Cybernetics , IEEE SMC, Nabeul-Hammamet, Tunisia, 1998.
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L. Beji, A. Abichou, P. Joli and M. Pascal,
" Tracking control of a parallel robot with
estimated state feedback
", 5th. IFAC-Symposium on Robot Control , Proc. of SyRoCo'97, Nantes, France, pp.437--442, 1997.
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L. Beji, M. Pascal and P. Joli,
" Toward a minimal dynamic model of a 6dof parallel
robot
", ASME Design Technical Conferences , Proc. of DETC97/VIB-4024, Sacramento,
California, 1997.
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L. Beji, A. Abichou, P. Joli and M. Pascal,
" Nonlinear control of a parallel robot including
motor dynamics
", Symposium on Theory and Practice of Robots
and Manipulators , CISM-IFToMM, Udine, Italie, pp.45--52, 1996.
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L. Beji, P. Joli and M. Pascal,
" Dynamic study of a 6-dof and three limbs parallel manipulator
", IEEE Systems, Mans and Cybernetics, IEEE-SMC, Lille, France, pp.333--338, 1996.
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L. Beji, A. Abichou, P. Joli and M. Pascal,
" Controller observer design for tracking control
of a parallel robot
", AMSE Int. Conf. on intelligent technologies , Proc. of AMSE, Leon,
Espagne, pp.151--158, 1996.
European and National conferences (lecture Committees)
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A. Khadraoui, L. Beji, S. Otmane, A. Abichou, " Explicit homogeneous time-varying stabilizing
control for a submarine ROV",
, Journées des Jeunes Chercheurs en Robotique (JJCR'2013), INRIA, Rennes, Janvier, 2013.
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R. Mlayeh, L. Beji and A. Abichou, "B-UAV tracking control integrating planned yaw
and longitudinal/lateral inputs",
3rd US-European Workshop and Competition about
Micro-Aerial Vehicules, MAV'07, Toulouse, France, 2007. pdf
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L. Beji and Y. Bestaoui, " Control of integrated lingitudinal and lateral dynamics of
automated vehicle in road following",
European Mechanical Conference , Euromech'01, ENS Cachan, France, 2001.
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M. Daffaoui and L. Beji,
" Optimized dynamic modelling of the X5 parallel robot
", European Mechanical Conference , Euromech'01, ENS Cachan, France, 2001.
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L. Beji, M. Pascal, P. Joli,
" On the kinematics and workspace study of a 6-DOF Parallel
robot
", 3th Marocain Mechanical Congres , pp.31--35, Tetouan, Maroc, 1997.
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L. Beji, P. Joli, A. Abichou and F. Artigue,
" Dynamic analysis and control of a 6-DOF
Parallel Manipulator
", 5th Maghrebin Symposium on the Enginnering
Numerical Models , Proc. MSENM'95, pp.157--162, Rabat, Maroc, 1995.
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