Lotfi Beji
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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. pdf

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)

  • 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

  • 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

  • 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.

  • N. Zoghlami, L. Beji, R. Mlayeh and A. Abichou, "Average consensus in networked dynamic systems", Automatica, submitted January 2013, pdf.

  • A. Khadraoui, L. Beji, S. Otmane and A. Abichou, "Stabilizing control and human scale simulation of ROV navigation", Ocean Engineering Journal, submitted, November 2013.

  • 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.

  • 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.

  • 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.

  • 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

  • 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. pdf

  • 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. pdf

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • L. Beji and A. Abichou, " Tracking Control of Automated Guided Vehicles", Robot Motion Control", Springer Verlag,, Kozlowski, K. (Ed.), pp.49--56, 2007. Info

  • 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

  • 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

  • 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)

  • 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

  • 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

  • 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

  • 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. pdf

  • 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. pdf

  • 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. pdf

  • 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

  • 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. pdf

  • L.Beji, M.A. ElKamel and A.Abichou, " A strategy for multi-robot navigation", CDC-ECC Conference , Orlando, Florida, USA, 2011. pdf

  • 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

  • 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. pdf

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • M.A. ElKamel and L. Beji, " Nonholonomic mobile robots cooperative control for target capturing ", Exhibition on Control, Communication and Automation , INDICON’08, Inde, 2008.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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. pdf

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.>

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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.

  • 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)

  • 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.

  • 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

  • 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.

  • M. Daffaoui and L. Beji, " Optimized dynamic modelling of the X5 parallel robot ", European Mechanical Conference , Euromech'01, ENS Cachan, France, 2001.

  • 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.

  • 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.