Yasmina BESTAOUI - SEBBANEAssociate professor , IEEE senior member, AIAA member
Office : Laboratoire des Systèmes Complexes & Electrical Engineering department,
Université d'Evry, 38 rue du Pelvoux, CE 1455 Courcouronnes, 91020 EVRY, FRANCE.
Tel : (33) 1-69-47-75-19, Fax : (33) 1-69-47-75-99, Email : bestaoui@iup.univ-evry.fr
PROFESSIONAL EXPERIENCE.
Since 1993 Associate Professor
1999 - 2003 Electrical Engineering department, University of EVRY.
1997 - 1998 ‘Visiting Associate Professor’, ‘Computer Science Dept’ ‘Naval Postgraduate School’, MONTEREY, Ca
1993 - 1999 Mechanical engineering Department, University of NANTES.
1990 - 1993 Assistant Professor, Mechanical engineering Department, University of NANTES.
1989 - 1990 Research and Teaching Assistant, Electrical Engineering dept, University of NANTES.
EDUCATION.
2000 Habilitation To Supervise Research in Robotics. University of EVRY, France
' Trajectory generation and trajectory tracking of robot manipulators and mobile robots'
1989 Ph.D. in ‘Control and Computer Engineering’, University of NANTES, France
'Hierarchical control of a rigid robot-manipulator'
1984 Master in ‘Electronic physic’ University of TLEMCEN, Algeria
‘Penalty methods applied to large scale systems’
RESEARCH .
Trajectory Generation and Tracking : Unmanned Aerial Vehicles, Mobile Robots, Robot Manipulators.
A. Unmanned Aerial Vehicles (2000 - 2005),
Unmanned aerial vehicles (UAV) are my new focus of research because of their important application potential. They can be divided into three different types: reduced scale fixed wing vehicles (airplanes), rotary wing aircraft (helicopter) or lighter than air (airships). I was first involved in airships. Lighter than air vehicles suit a wide range of applications, ranging from advertising, aerial photography and survey work to surveillance and monitoring tasks. A mathematical description of a dirigible flight dynamics is necessary for further studies [P 1, P23, P 28 ]. The airship is a member of the family of under-actuated systems because it has less input than degrees of freedom A basic problem which has to be solved is the problem of motion planning. Motion planning means the generation and execution of a plan for moving from one location to another location in space, in order to accomplish a desired task. Moreover, it is desirable that the plan makes optimal use of the available resources to achieve the goal optimizing some ‘cost’ measure : the time required for the execution of the trajectory, its length, the deviation from a reference trajectory, control effort or energy [P 4P 16P 18P 20, P24, P27]. After establishing the equations of motion and reference trajectories, some questions arise: What are their controllability and stabilizability properties? How can closed loop control systems be solved? Finding answers to these questions is a part of our actual work. For the control of a small airship moving at high and constant altitude, we used the input – output decoupling technique to control a point situated in the fore part of the airship and we used also nonlinear non-stationary control approach. [P 1P 2P 22].
I am also involved in trajectory generation for small autonomous four rotors helicopters and airplanes [P17, P 19]. The first topic is characterization of admissible trajectories, considering first kinematics constraints then dynamics constraints, taking into account the particularities of heavier than air.
B.Ground mobile robots (1997-2005),
I began working on Ground vehicles while I was a visiting associate professor in the Computer Science Department in the Naval Postgraduate School in Monterey (Ca). In [P 31], I was interested in obtaining a kinodynamic model of two different types of mobile robots: differentially driven vehicle and conventionally driven vehicle (rear wheel drive and front wheel drive). The derivation of the dynamic model uses Lagrangian formulation. Kinodynamics are described by a non linear non holonomic model. Then, analysis of the models is performed, generalizing some well-known properties of kinematics models. The second task is concerned with motion generation, taking into account kinodynamics and motors constraints. Usual kinematics constraints are not always sufficient to providing feasible trajectories, thus we focus on velocity limitation and motors current, slew rate constraints. Optimal velocity is determined for the tricycle along a specified path with a known curvature. Some results were presented in [P 29P 30]. In [P 3P 25P 26], two different approaches of adaptive control are applied to road following.
The task I was interested in, was the motion of the end effector from an initial position to a final position with some via-points. To tackle this question, modeling, trajectory generation and trajectory tracking were considered.
Modeling.
The work [P 49P 50] presented a comparative study of some unconstrained optimization techniques applied to kinematics control. The position and velocity kinematics problems are related since the jacobian matrix depends on the values of the joint variables. In order to move the end effector in a specified direction, at a specified speed, it is necessary to solve, at the same time, a set of nonlinear and a set of linear equations. Some well-known optimization techniques: steepest descent, conjugate gradient and quasi-Newton methods, were applied to solve this inverse kinematics problem and compared by means of simulation. In [P 43], a generalization of the quaternion approach was proposed to solve the kinematics problem of resolvable manipulators. The originality of this communication was the presentation of the differential problem, based on the modified Denavit – Hartenberg formulation.
Motion generation.
My first studies in motion generation took into account kinematics constraints : maximal joint velocities and accelerations. One significant problem is the use of sensor information. When the uncertainty of the environment of the manipulator increases, the a – priori defined motion is no longer adequate. To prevent this drawback, the proposed system is able to decide whether a new reference trajectory must be planned, taking into account the situation detected by the sensors. Joint reference trajectories are calculated to be more adapted to the situation detected by the positions and velocities sensors. This motion generation method uses the resolution of a minimum time optimization problem. This technique is interesting when there appear:
When the difference between measured and reference positions is more than a certain threshold, an update is made. New reference trajectories are calculated to fit the measured values of positions and velocities, taking into account velocities and accelerations limitations. Point to point motion has been studied as well as passing points. This kinematics approach has been generalized, using dynamic model and torques limitations. The constraints are transformed into joint velocity, acceleration and jerk limitations. This reference trajectory definition took into account the manipulator dynamics. To take into account technological constraints, more specifically, limitations of the voltage, current and slew rate of the DC motor, we studied the case when the motion is a polynomial function of time, considering joint space or cartesian spaces (point to point motion and via-points motion). Joint space is used when there is no obstacle. Compared with the maximal velocity and acceleration problem, even though the computation time is longer and depends on the discretization adopted, our formulation leads to more realistic results. A special fixed motion has often to be repeated thousands of times. In such cases, the generation of smooth trajectories, which can be performed in minimum time, becomes interesting even at the price of longer off-line computation times. On-line computation times, involving a few parameters, remain short.
Control.
I considered first a minimal energy problem, taking into account the dynamics of the manipulator, subject to constraints on the motor torques. A differential dynamic programming method is developed to solve the discrete-time optimal control method. This initial value technique is transformed in a two-point boundary method . This method allows the calculation of PD and PID regulator gains [P 7P 9].
From the computed torque technique, we proposed a method to find the variation of PD and PID gains, when initial and final positions of the robot are known. As one does not have access to the exact inverse dynamics, the linearization and the decoupling will not be exact. This is manifested by uncertain feedback terms that may be handled using multivariable robust control techniques. The multivariable approach then revolves around the design of the controller such that the complete closed-loop system is stable in some suitable sense. We analyzed the stability and sensibility of the computed torque technique. Two original theorems were proposed : the first concerns the stability control and the second the analysis of the sensibility of the closed loop process when regular disturbances of the gains occur [P 6P 42P 39P 40].
SUPERVISION
PhD
1 - S. Hima ‘Optimal reference trajectories of a small autonomous airship’,2005
2 – D. Boukraa ‘Modelling and control of an autonomous airplane’ (in collaboration with Naoufel Azouz)
3 – R. Slim ‘ Control of a 4 rotor autonomous helicopter’ (in collaboration with Lotfi Beji, Azgal Abichou)
4 – C. Sentouh ‘Control of an automated guided vehicle’ (in collaboration with Said Mammar)
5 – P. Plédel ‘ Generation of optimal motions of a robot manipulator’, 1996
Masters
1 – M. Benberber ‘Localization of an autonomous airship’, 2003
2 – C. Sentouh ‘ Motion planning of an autonomous airship’, 2003
3 – S. Hima ‘Control of a small autonomous airship’, 2000
4 – L. Joanesse ‘ Trajectory generation of a mobile manipulator’, 1996
5 – P. Plédel ‘Optimization of motion generation and path tracking of robot manipulators’, 1993
6 – D. Benmerzouk ‘ Collision avoidance and control of a manipulator’, 1991
AFFILIATIONS AND AWARDS
Member of the IEEE since 1990, Member of the AIAA since 2003
The International Biographical Center of Cambridge (England).
2002 Invited papers in IEEE ROMOCO
2000 Invited conference by Professor Kozlowski, University of Poznan
Polish chapter of the IEEE society of Robotics and Automation.
invited session for 'World Automation Congress', may 1996, Montpellier.
1993 Chairwoman of a session for IMACS/IFAC Mathematical and Intelligent Models in Systems Simulation, Brussels, april 1993.
Reviewer.
IEEE Control system magazine, B. Siciliano, L. Villani ‘Robot Force Control’ Kluwer Press 2000.00939948.pdf
PUBLICATIONS .
Journals
P 1 Y. Bestaoui, L. Beji, A. Abichou ‘Modelling and control of small autonomous airships’ In Modelling and control of mini flying machines, P. Castillo, R. Lozano & A. Dzul, Springer-Verlag, July 2005.
P 2 L. Beji, A. Abichou, Y. Bestaoui, ‘Position and attitude control of an under-actuated airship’ International Journal of Differential Equations and Applications, vol. 8, #3, 2003, pp. 231-256.
P 3 L. Beji, Y. Bestaoui ‘Motion generation and adaptive control method of automated guided vehicles in road following’ IEEE Transactions on Intelligent Transportation Systems, Mars. 2005, pp 113- 123ieee-ITS05.pdf
P 4 Y. Bestaoui, S. Hima ‘Some insights in path planning of small autonomous blimps’ Archives of Control Sciences, Polish Academy of Sciences, Volume 11 (XLVII), 2001, N° 3-4, pp. 21-49, (invited paper).archives01.ps
P 5 Y. Bestaoui, P. Plédel, M. Gautier 'Motion generation in cartesian space for industrial robots with actuators limitations' Journal of Applied Mathematics and Computer Science, Recent Development in Robotics, 1997, vol. 7, #2, pp. 101 –114 & IEEE Conf. on Decision and Control, dec. 1996, Kobe, Japan, pp. 863-868.PBGCDC95.pdf
P 6 Y. Bestaoui, D. Benmerzouk ' A stability and sensitivity analysis of the robotic computed torque technique using a regular perturbation approach' International Journal of Robotics and Automation, 1995, vol. 10, #4, pp. 171-177.
P 7 Y. Bestaoui 'On-line reference trajectory definition with joint torques and velocities constraints' International Journal of Robotics Research, 1992, vol. 11, #1, pp. 75-85.
P 8 Y. Bestaoui 'An unconstrained optimization approach to the resolution of the inverse kinematics problem of redundant and non - redundant robot manipulators' Robotics and Autonomous Systems, vol. 7, #1, 1991, pp. 37-45.
P 9 Y. Bestaoui 'Design of a robotic discrete minimum energy regulator' IEE Proceedings, Part D on Control Theory and Applications, 1991, vol. 138, #1, pp. 509-514.BIEED91.pdf
P 10 Y. Bestaoui, R. Mezencev 'On-line motion generation for robotic manipulators' In 'Mathematical and Intelligent Models in System Simulation', R. Hanus ed., J. C. Baltzer AG, Scientific Publishing Co, IMACS, 1991, pp. 573-578, & IMACS International Symposium on Mathematical and Intelligent Models, Bruxelles, sept. 1990, pp IIC3.1-IIC3.6 (invited paper).
P 11 R. Mezencev, J. Szymanowski, Y. Bestaoui 'On-line implementation of the reference trajectories for a multi-axis robot' In 'Modeling and simulation of Systems', P. Breedveld et al editors, J. C. Baltzer AG, Scientific Publishing Co, IMACS, 1989, pp. 261-266, & 12th World Congress, IMACS, Paris, July 1988, vol. 2, pp. 1-3.
P 12 Y. Bestaoui 'On-line motion generation with velocity and acceleration constraints' Robotics and Autonomous Systems, vol. 5, 1989, pp. 279-288.
P 13 Y. Bestaoui 'Decentralised PD and PID robotic regulators' IEE Proceedings, part D on Control Theory and Applications, vol. 136, #4, 1989, pp. 133-145.BIEED89.pdf
P 14 Y. Bestaoui 'Adaptive hierarchical control for robotic manipulators ' Robotics and Autonomous Systems, vol. 4, 1988, pp. 145-155.
P 15 P. Plédel, Y. Bestaoui 'Etude comparative de méthodes de génération de mouvement optimal - Suivi de trajectoires de robots manipulateurs ' RAIRO APII, 1994, vol. 28, #5, pp. 507-520.
Conferences
P 18 Y.Bestaoui ‘Characterization of Non Trim Trajectories of an Autonomous Underactuated Airship in a Low Velocity Flight’ IEEE International Conference On Robotics and Automation, Barcelona, Spain, May 2005, sept04_YBestaoui.pdf
P 19 D. Boukraa, Y. Bestaoui, N. Azouz ‘Trajectories characterization of an autonomous aerial vehicle with a small angle of attack.’Proceedings of 23rd IEEE/AIAA Digital Avionics Systems Conference, Salt Lake City, Utah, Oct 2004, pp. 12E1.1 - 12E1.10.
P 20 S. Hima, Y. Bestaoui ‘Time optimal paths for lateral navigation of an autonomous underactuated airship’ AIAA Conference on Navigation, Guidance and control, Austin, Texas, Aug. 2003AIAA03_hima_bestaoui.pdf
P 23 Y.Bestaoui, S. Hima, C. Sentouh ‘Motion planning of a fully actuated unmanned air vehicle’ AIAA Conference on Navigation, Guidance and control, Austin, Texas, Aug. 2003AIAA03_Bestaoui_hima_Sentouh.pdf
P 22 L. Beji, A. Abichou, Y. Bestaoui ‘Stabilization of a nonlinear underactuated autonomous airship – A combined averaging and backstepping approach’ 3rd IEEE Workshop on Robot Motion and Control, Bukowy Dworek, Nov. 2002, pp. 223-229BAB02ROMOCO.pdf
P 23 N. Azouz, Y. Bestaoui, O. Lemaître ‘Dynamic analysis of airships with small deformations’ 3rd IEEE Workshop on Robot Motion and Control, Bukowy Dworek, Nov. 2002, pp. 209-215ABL02ROMOCO.pdf
P 24 S. Hima, Y Bestaoui ‘Motion generation on trim trajectories for an autonomous underactuated airship’ ‘4th International airship conference, Cambridge, England , july 2002 , autonomous_robots_2002_last.pdf
P 25 L. Beji, Y. Bestaoui ‘ An adaptive control method of an automated vehicle with integrated longitudinal and lateral dynamics in road following’2nd IEEE Workshop on Robot Motion and Control, ROMOCO’01, Poznan, Poland, oct. 2001 (invited paper), pp. 201-206.BB01ROMOCO.pdf
P 26 L. Beji, Y. Bestaoui ‘Control of integrated longitudinal and lateral dynamics of an automated vehicle’ EUROMECH, Cachan, France, sept. 2001
P 27 Y. Bestaoui, S. Hima ‘Trajectory tracking of a dirigible in a high constant altitude flight’ 5th IFAC symposium on Nonlinear control systems (NOLCOS2001), Saint Petersburg, Russia, july 2001.nolcos01_hima7.pdf
P 28 Y. Bestaoui, T. Hamel ‘Dynamic modelling of small autonomous blimps’ Methods and Models in Automation and Robotics, Miedzyzdroje, Pl, Aug. 2000 (invited paper), vol. 2, pp 579 - 584.blimp_modelfin.pdf
P 29 Y. Bestaoui ‘An optimal velocity generation of a rear wheel drive tricycle along a specified path’ American Control Conference, Chicago, IL, June 2000, pp. 2907- 2911BACC00.pdf.
P 30 Y. Bestaoui 'Longitudinal front wheel drive vehicle maneuvers considering DC motors constraints' International Mechanical Engineering Congress and Exposition 99, Innovations in Vehicle design and Development, American Society of Mechanical Engineers, Nashville, TN, Nov. 1999.
P 31 Y. Bestaoui 'Dynamics of a three-wheeled vehicle driven by DC-motors' IMECE99, ASME, Nashville, TN, Nov. 1999.
P 32 Y. Bestaoui ' Motion generation in end effector straight line following of a non-holonomic mobile manipulator using the kinematical model' International Symposium on Robotics Applications, World Automation Congress, Anchorage, AK, May 1998, pp. 026.1-026.4.
P 33 P. Plédel, Y. Bestaoui 'Motion generation of industrial robots with technological constraints' World Automation Congress, Montpellier, Mai 1996, pp. 77-82.
P 34 P. Plédel, Y. Bestaoui 'Polynomial motion generation of manipulators with technological constraints' IEEE International Conference on Robotics and Automation, Minneapolis, MN, ap. 1996, pp. 448-453PBICRA96.pdf.
P 35 P. Plédel, Y. Bestaoui 'A motion generation method of manipulators for cartesian paths' Proceedings of Computational Engineering in Systems Applications, Lille, Juillet 1996.
P 36 P. Plédel, Y. Bestaoui 'Actuator constraints in point to point motion planning of manipulators' IEEE Congress and Decision and Control , New Orleans, LA, dec. 1995, pp. 1009-1010.PBCDC95.pdf.pdf
P 37 P. Plédel, Y. Bestaoui 'Actuator constraints in optimal motion planning of manipulators' IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995, pp. 2427-2432.PBICRA95.pdf
P 38 P. Plédel, Y. Bestaoui 'An optimal motion planning for manipulators' American Control Conference, June 1995, Seattle, WA, pp. 1894-1897.PBACC95.pdf
P 39 Y. Bestaoui, D. Benmerzouk ' A sensitivity analysis of the robotic computed torque technique' American Control Conference, June 1995, Seattle, WA, pp. 2332-2334.BBACC95_2.pdf
P 40 Y. Bestaoui, D. Benmerzouk 'Determination of robotic regulator gains' American Control Conference, June 1995, Seattle, WA, pp. 4558-4460.BBACC95_1.pdf
P 41 P. Plédel, Y. Bestaoui 'A comparative study of optimal control algorithms for robot continuous path planning' IEEE International Conference on Systems, Man and Cybernetics, San Antonio, TX, oct. 1994, pp. 2522-2527.PBSMC94.pdf
P 42 Y. Bestaoui, D. Benmerzouk 'Analysis of the robotic computed torque technique' IEEE Conference on Systems, Man and Cybernetics, Le Touquet, Oct. 1993, #5, pp. 189-193.BBSMC93.pdf.pdf
P 43 Y. Bestaoui 'A quaternion formulation of the robotic kinematic problem' IMACS/IFAC Mathematical and Intelligent Models in Systems Simulation Symposium, Bruxelles, ap. 1993, vol. 1, pp. 163-168.
P 44 Y. Bestaoui, P. Plédel 'A game theory linear regulator synthesis for mobile robots path tracking problem' IMACS/IFAC Mathematical and Intelligent Models in Systems Simulation Symposium, Bruxelles, ap. 1993, vol. 1, pp. 157-162.
P 45 Y. Bestaoui, R. Mezencev 'A suboptimal path planning method for a one-link robot arm' 13th IMACS World Congress on Computation and Applied Mathematics, Dublin, July 1991, pp. 1119-1120.
P 46 Y. Bestaoui 'Comparative study of unconstrained optimization techniques applied to robotic kinematic control' Second International Symposium on Robotics and Manufacturing, Albuquerque, NM, Nov. 1988, pp. 21-28.
P 47 Y. Bestaoui, G. Coeurdeuil, J. L. Coquerelle ‘On-line computing of robotic manipulator reference trajectories for via-points motion’ International Symposium on mini and micro-computers and their applications, Lugano, Switzerland, 1990, pp. 239-242.
P 48 Y. Bestaoui, D. Benmerzouk ‘A bifurcation approach to the gain sensitivity analysis of the computed torque technique’ Mathematical Theory of Network and Systems Symposium, Aug 1993, Regensburgh, Germany.
P 49 Y. Bestaoui ‘An unconstrained optimization approach to the resolution of the inverse kinematic problem of redundant and non-redundant robot manipulators’ SIAM Conference on Control in The 90’s, San Francisco, CA, May 1989.
P 50 Y. Bestaoui ‘Some optimization techniques applied to robotic control’ 3rd SIAM Conference on Optimization, Boston, MA, Ap. 1989.
P 51 J. Szymanowski, Y. Bestaoui ‘Une méthode du lagrangien augmenté appliquée aux systèmes hiérarchisés’ 1er Séminaire National en Automatique Appliquée et Electricité Industrielle, Alger, Mai 1985, pp. 13-19
P 52 S. Hima, Y. Bestaoui ‘Planification des trajectoires pour la navigation des dirigeables autonomes’ Colloque AERALL, Janvier 2004
P 53 D. Boukraa, N. Azouz, Y. Bestaoui ‘Analyse dynamique d’un dirigeable non rigide’ Colloque AERALL, Janvier 2004