© 2019

New Developments and Advances in Robot Control

  • Nabil Derbel
  • Jawhar Ghommam
  • Quanmin Zhu

Part of the Studies in Systems, Decision and Control book series (SSDC, volume 175)

Table of contents

  1. Front Matter
    Pages i-viii
  2. Manal Aissam, Mohammed Benbrahim, Mohammed Nabil Kabbaj
    Pages 1-20
  3. Mohamad Bdiwi, Jozef Suchý, Matthias Putz
    Pages 21-37
  4. Hussein Saied, Ahmed Chemori, Micael Michelin, Maher El-Rafei, Clovis Francis, Francois Pierrot
    Pages 39-79
  5. Hachmia Faqihi, Maarouf Saad, Khalid Benjelloun, Mohammed Benbrahim, M. Nabil Kabbaj
    Pages 81-106
  6. Yassine Kali, Maarouf Saad, Khalid Benjelloun
    Pages 107-136
  7. Yassine Kali, Maarouf Saad, Jean-Pierre Kenné, Khalid Benjelloun
    Pages 137-161
  8. Khaoula Oulidi Omali, M. Nabil Kabbaj, Mohammed Benbrahim
    Pages 163-185
  9. Ahmed Abid, Rim Jallouli–Khlif, Nabil Derbel, Pierre Melchior
    Pages 187-200
  10. Brahim Brahmi, Maarouf Saad, Cristobal Ochoa-Luna, Mohammad H. Rahman, Abdelkrim Brahmi
    Pages 201-220
  11. Mohamed Elhedi Hmidi, Ines Ben Salem, Lilia El Amraoui
    Pages 221-235
  12. Bachir Nail, Abdellah Kouzou, Ahmed Hafaifa
    Pages 237-253
  13. L. Cherroun, M. Boumehraz, A. Kouzou
    Pages 255-283
  14. Lamia Iftekhar, H. M. Nafid Rahman, Imran Rahman
    Pages 301-320

About this book


This book highlights relevant studies and applications in the area of robotics, which reflect the latest research, from interdisciplinary theoretical studies and computational algorithm development, to representative applications. It presents chapters on advanced control, such as fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis and fault tolerant control etc. and addresses topics including cloud robotics, cable-driven robots, two-wheeled robots, mobile robots, swarm robots, hybrid vehicle, and drones. Each chapter employs a uniform structure: background, motivation, quantitative development (equations), case studies/illustration/tutorial (simulations, experiences, curves, tables, etc.), allowing readers to easily tailor the techniques to their own applications.


Continuous control discrete control sliding mode control adaptive control predictive control fuzzy control neural control diagnosis and fault tolerant control Robotic Robust control

Editors and affiliations

  • Nabil Derbel
    • 1
  • Jawhar Ghommam
    • 2
  • Quanmin Zhu
    • 3
  1. 1.Sfax Engineering SchoolUniversity of SfaxSfaxTunisia
  2. 2.Department of Electrical and Computer Engineering College of EngineeringSultan Quaboos UniversityMuscatOman
  3. 3.University of the West of EnglandBristolUK

About the editors

Nabil Derbel is Professor in Control Systems Theory at the Electrical Engineering Department of The "National Engineering School of Sfax", University of Sfax, Tunisia. He received his engineering Diploma from the "Ecole Nationale d'Ingénieurs de Sfax" in 1986, the "Diplôme d'Etudes Approfondies" in Automatic control from the "Institut National des Sciences Appliquées de Toulouse" in 1986, the "Doctorat d'Université" degree from the "Laboratoire d'Automatique et d'Analyse des Systèmes de Toulouse" in 1989, and the "Doctorat d'Etat" degree from the" Ecole Nationale d'Ingénieurs de Tunis". His current interests include: Optimal Control, Sliding Mode Control, Complex Systems, Fuzzy Logic, Neural Networks. He is the author and the co-author of more than 80 papers published in international Journals and of more than 500 papers published in international conferences. Currently, Professor Derbel is associate editor of International Journal of Modelling, Identification and Control, the editor of International Journal of Digital Signals and Smart Systems, and co-editor (and co-founder) of Transactions on Systems, Signals & Devices, an International Journal, which has been renamed in 2017 as Advances in Systems, Signals & Devices. He has edited a book for Springer entitled "Applications of sliding mode control", in 2017.

Jawhar Ghommam is an Associate Professor in Control Theory and Robotics at the National Institute of Applied Science and Technology, University of Carthage, Tunis. He's got the BSc degree in Computer and Control Engineering from the National Institute and Applied Sciences and Technology (INSAT) in 2003 in Tunis. He's got the DEA ( MSc) degree form the university of Montpelier at the Laboratoire d'Informatique, Robotique et Micro-électronique (LIRMM, France) in 2004 and later on in 2008 a Ph.D in Control Engineering degree jointly from the National Engineering School of Sfax and the university of Orleans in France. From September 2008 through September 2010 he had the privilege of regularly visiting a distinguished university at the Balearic Islands (Spain), where he served as a research contributor and Senior lecturer on cooperative control algorithms and a lecturer on time delayed systems. He also has the privilege of visiting the GREPCI research group on the basis of two months yearly since 2010. J. Ghommam occupies a permanent research position at the Control Energy Management Laboratory (CEM-Lab) at Sfax-Tunisia. His Research interests include fundamental motion control concepts for nonholonomic/underactuated vehicle systems, nonlinear and adaptive control; intelligent and autonomous control of networked unmanned systems, team cooperation, consensus achievement,and sensor networks. He is the author/coauthor of about 57 technical papers in international journals, and refereed conferences. He serves as a regular referee for many international journals in the led of Control and Robotics.

Quanmin Zhu is Professor in control systems at Department of Engineering Design and Mathematics, University of the West of England, Bristol, UK. He obtained his MSc. in Harbin Institute of Technology, China in 1983 and PhD in Faculty of Engineering, University of Warwick, UK in 1989. His main research interest is in the area of nonlinear system modelling, identification, and control. He has published over 160 papers on these topics and provided consultancy to various industries. Currently Professor Zhu is acting as member of editorial board of International Journal of Systems Science, member of editorial board of Chinese Journal of Scientific Instrument, editor (and founder) of International Journal of Modelling, Identification and Control, and editor of International Journal of Computer Applications in Technology.

Bibliographic information