Artículos y papers

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Examinando Artículos y papers por Autor "Abdelrahim, Mahmoud"

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  • Miniatura
    Publicación
    Dynamic Periodic Event-triggered Control for Nonlinear Systems with Output Dynamic Quantization
    (Elsevier, 2024-07-19) Almakhles, Dhafer; Aranda Escolástico, Ernesto; Abdelrahim, Mahmoud; Research, Development, and Innovation Authority (RDIA), Saudi Arabia
    This paper is concerned with the design of stabilizing event-triggered controllers for nonlinear systems subject to dynamic quantization. The plant state is assumed to be partially known, and the feedback signal is transmitted to the controller at discrete-time instants via a digital channel. To that end, an event-triggered controller is synthesized based solely on the available plant measurement. In addition, to better adapt it to practical implementation, the event-triggering law we construct is only verified at periodic time instants, i.e., periodic event-triggering mechanism. Since the network is digital, the transmitted output signal must be quantized to be encoded using a finite number of bits. Furthermore, the initial output value is assumed to be unknown, and the plant is affected by external disturbance, which can result in quantizer saturation. To overcome these challenges, a dynamic quantization policy is developed for the output measurement such that the quantization regions are dynamically updated according to the value of the quantized signal. The combined approach of periodic event-triggering mechanism and dynamic quantization ensures the stability of the networked control system under mild conditions. The stability is studied using appropriate Lyapunov functions. Numerical simulations have been conducted to justify the proposed technique.
  • Miniatura
    Publicación
    Passivity-Based Distributed Event-Triggered Flocking Control of Port-Hamiltonian Systems
    (IEEE, 2025-05-20) Aranda Escolástico, Ernesto; Abdelrahim, Mahmoud; Fernández-Amorós, David; Guinaldo Losada, María; Colombo, Leonardo; Ministerio de Ciencia e Innovación
    This letter addresses the problem of flocking motion in the context of port-Hamiltonian systems. The port-Hamiltonian framework offers advantages in modeling networks, dissipation, and heterogeneous agents. In this regard, designing flocking controllers in port-Hamiltonian form significantly increases their practical applications. Additionally, event-triggered control has proven effective in reducing bandwidth consumption. However, challenges remain in combining flocking requirements with energy-dissipating terms. Therefore, we propose a novel event-triggered flocking controller suitable for port-Hamiltonian systems. The method is validated through numerical simulations of a group of hexarotors.