Karim Khayati

Karim Khayati
Dr.
Karim Khayati
Ingénieur d'état, D.E.S.A., Ph.D., PEng., Associate Professor
Office:
SB2109
Telephone:
(613) 541-6000 ext 8407
Fax:
(613) 542-8612
E-mail:
Department of Mechanical and Aerospace Engineering
Royal Military College of Canada
PO Box 17000, Station Forces
Kingston, Ontario, CANADA
K7K 7B4
  • Ingénieur d'état is equivalent to B.Eng.
  • Diplôme des études supérieures approfondies (D.E.S.A.) is equivalent to M.Sc.A.

Brief History

Dr. Khayati obtained his Engineering degree in Electro-Mechanics from the École Nationale de l'Industrie Minérale (ÉNIM) in Rabat, Morocco, in 1995. He went on to obtain the DESA (master) degree in Industrial Process Control from the École Mohammadia d'Ingénieurs (ÉMI) in Rabat, Morocco in 1998. He earned his Engineering Ph.D. degree in Control and Robotics from the École de Technologie Supérieure (ÉTS) in Montreal, Canada, in 2006. In 2007, he was a research associate in the Control and Robotics (CoRo) lab at the ÉTS.

Dr. Khayati is currently an Associate Professor at RMCC where he has been since August 13, 2007. Before coming to RMCC, he worked as a part-time lecturer and a teaching assistant at ÉTS between 2001 and 2007. From 1999 to 2000, he worked as a part-time assistant professor at the Université Libre de Tunis (ULT) in Tunisia. He was a full-time assistant professor from 1998 to 2000 at the Institut Préparatoire aux Études d'Ingénieurs de Tunis (IPÉIT) in Tunisia. Dr. Khayati's research interests include aspects of control systems: linear and nonlinear control, robust control and nonlinear adaptive observers using linear matrix inequality (LMI) framework. He focuses particularly on control of electromechanical plants, robot arms and pneumatic actuators involving friction behaviour. He works on the positioning tracking and dynamic friction compensation techniques based on the LuGre the generalized Maxwell-slip (GMS) models. He is working now on new methods of nonlinear control for nonlinear perturbed and/or uncertain dynamics. These methods comprise: 1) nonlinear control based on Kronecker product and vector power series, and 2) adaptive sliding mode control techniques.

Specializations and Research Interests (Keywords)

  • Linear and Nonlinear Control
  • Robust and Optimal Control
  • Nonlinear Adaptive Observers
  • Sliding Mode Control
  • Adaptive Sliding Mode Control
  • Linear Matrix Inequality (LMI)
  • Friction Compensation
  • Applications to Electromechanical Systems, Pneumatics, Robot Arms

Teaching Duties

Undergraduate Courses

Course Number Course Name
GMF345 Mécanique appliquée
MEE346 Modeling and simulation of dynamic systems
MEE/GMF439 Industrial Process Control / Commande des procédés industriels
MEE/GMF443 Control of electromechanical systems / Asservissements des systèmes électromécaniques
GMF482 Instrumentation

Graduate Courses

Course Number Course Name
AE501 Robust control
ME563 Nonlinear Systems and Control

Laboratories Used For Research and Teaching

Society Memberships

  • Institute of Electrical and Electronics Engineers (IEEE) - member since 2008
  • IEEE Control Systems Society - member since 2008
  • IEEE Robotics and Automation Society - 2008-2014
  • IEEE Industrial Electronics Society - 2008-2013
  • IEEE Systems, Man and Cybernetics Society - 2008-2013
  • Ordre des ingénieurs du Québec (OIQ) - 2004-2014
  • Professional Engineers of Ontario - member since 2014

Honours and Awards

  • Internal Fellowship of the ÉTS, 2001-2003
  • Scholarship of Tunisisan-Moroccan Co-operation, 1990-1995

Publications

Journal papers

  • J. Zhu and K. Khayati, "On New Adaptive Sliding Mode Control for MIMO Nonlinear Systems with Uncertainties of Unknown Bounds", International Journal of Robust and Nonlinear Control, Wiley Online Library, DOI: 10.1002/rnc.3608, August 2016.
  • J. Zhu and K. Khayati, "Adaptive Sliding Mode Control Convergence and Gain Boundedness Revisited", International Journal of Control, pp. 801-814, vol. 89, no. 4, November 2015.
  • K. Khayati, "Multivariable Adaptive Sliding Mode Observer-based Control for Mechanical Systems", IEEE Canadian Journal of Electrical and Computer Engineering, pp. 253-265, vol. 38, no 3, November 2015.
  • J. Zhu and K. Khayati, "A New Approach for Adaptive Sliding Mode Control: Integral/Exponential Gain Law", Transactions of the Institute of Measurement and Control, pp. 385-394, vol. 38, no. 4, April 2016.
  • K. Khayati and R. Benabdelkader, "Nonlinear Sub-Optimal Control for Polynomial Systems – Design and Stability Analysis", International Journal of Electrical and Computer Systems, Avestia Publishing, pp. 26-34, vol. 1, no. 1, December 2012.
  • J. Zhu and K. Khayati, "LMI-Based Adaptive Observers for Nonlinear Systems", International Journal of Mechanical Engineering and Mechatronics, Avestia Publishing, pp. 50-60, vol. 1, no. 1, December 2012.
  • K. Khayati, P. Bigras and L.-A. Dessaint, "LuGre Model-based Friction Compensation and Positioning Control for a Pneumatic Actuator using Multi-Objective Output-Feedback Control via LMI Optimization", Mechatronics, The Journal of IFAC, pp. 535-547, vol. 19, no. 4, June 2009.
  • K. Khayati, P. Bigras and L.-A. Dessaint, "Force Control Loop Affected by Bounded Uncertainties and Unbounded Inputs for Pneumatic Actuator Systems", Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, pp. 011007-1-9, vol. 130, January 2008.
  • K. Khayati, P. Bigras and L.-A. Dessaint, "A Multi-Stage Position/Force Control for Constrained Robotic Systems with Friction: Joint-space Decomposition, Linearization and Multi-objective Observer/Controller Synthesis using LMI Formalism", IEEE Transactions on Industrial Electronics, pp. 1698-1712, vol. 53, no. 5, October 2006.

Papers in refereed Conference Proceedings

  • J. Zhu and K. Khayati, "On ASMC Design for Robotic Manipulators", IEEE 29th Annual Canadian Conference on Electrical and Computer Engineering, 4 Pages, Vancouver, Canada, May 2016.
  • J. Zhu and K. Khayati, "Application of Adaptive Sliding Mode Control with Integral/Exponential Adaptation Law to Mechanical Manipulators", International Conference on Control, Decision and Information Technologies, 6 Pages, St Julian’s, Malta, April 2016.
  • J. Zhu and K. Khayati, "New Algorithms of Adaptive Switching Gain for Sliding Mode Control: Part II – Real Case", International Conference on Control, Decision and Information Technologies, pp. 447-452, Metz, France, November 2014.
  • Zhu, J. and Khayati, K., "New Algorithms of Adaptive Switching Gain for Sliding Mode Control : Part I – Ideal Case", International Conference on Control, Decision and Information Technologies, pp. 441-446, Metz, France, November 2014.
  • K. Khayati, "Adaptive Sliding Mode Perturbation Estimation-based Control", Canadian Society for Mechanical Engineering International Congress, 6 Pages, Toronto, ON, Canada, June 2014.
  • J. Zhu and K. Khayati, "On Adaptive Sliding Mode Control Switching Gain Comments and Alternative Design", Canadian Society for Mechanical Engineering International Congress, 6 Pages, Toronto, Canada, June, 2014.
  • K. Khayati, "Multivariable Adaptive Sliding Mode Structure for an Observer-based Control of a Perturbed Mechanical System", IEEE 27th Annual Canadian Conference on Electrical and Computer Engineering, pp. 745-750, Toronto, Canada, May 2014.
  • J. Zhu and K. Khayati, "Adaptive Sliding Mode Control with Smooth Switching Gain", IEEE 27th Annual Canadian Conference on Electrical and Computer Engineering, pp. 893-898, Toronto, Canada, May 2014.
  • K. Khayati and J. Zhu, "Optimal Control Design for Nonlinear Systems", International Conference on Control, Decision and Information Technologies, pp. 92-99, Hammamet, Tunisia, May 2013.
  • K. Khayati and J. Zhu, "Adaptive Observer for a Large Class of Nonlinear Systems with Exponential Convergence of Parameter Estimation", International Conference on Control, Decision and Information Technologies, pp. 100-105, Hammamet, Tunisia, May 2013.
  • K. Khayati and R. Benabdelkader, "Nonlinear Sub-Optimal Control for Polynomial Systems – Stability Analysis", International Conference on Electrical and Computer
    Systems
    , 8 Pages, no. 208, Ottawa, Canada, August 2012.
  • K. Khayati and R. Benabdelkader, "Nonlinear Sub-Optimal Control for Polynomial Systems – New Design", International Conference on Electrical and Computer Systems, Ottawa, Canada, 8 Pages, no. 205, August 2012.
  • K. Khayati and J. Zhu, "On Exponentially Stable Nonlinear Adaptive Observer", International Conference on Mechanical Engineering and Mechatronics, 4 Pages, no.207, Ottawa, Canada, August 2012.
  • J. Zhu and K. Khayati, "On Robust Nonlinear Adaptive Observer – LMI Design", International Conference on Mechanical Engineering and Mechatronics, 8 Pages, no. 206, Ottawa, Canada, August 2012.
  • K. Khayati and J. Zhu, "Nonlinear Adaptive Observer Design for an Electromechanical Systems", 23rd Canadian Congress of Applied Mechanics, pp. 656-660, vol. 1 of 2, Vancouver, Canada, June 2011.
  • E. Jun, H. Benabdallah and K. Khayati, "Study of Friction in Heavy Vehicles Braking Systems, Impact on the Coefficient of Friction Produced by Variable Normal Load", 66th Annual Meeting & Exhibition Society of Tribologists and Lubrication Engineers, pp. 328-332, Atlanta, USA, May 2011.
  • J. Zhu and K. Khayati, "Nonlinear Adaptive Observer Design for an Electromechanical Rotative Plant", IEEE 24th Annual Canadian Conference on Electrical and Computer Engineering, pp. 385-388, Niagara Falls, ON, Canada, May 2011.
  • J. Zhu and K. Khayati, "Adaptive Observer for a Class of Second Order Nonlinear Systems", International Conference on Communications, Computing and
    Control Applications
    , 6 Pages, Hammamet, Tunisia, March 2011.
  • K. Khayati, "On Position Control using GMS-Model-Based Friction Compensation and Velocity Reduced-Order Observer for Servo-Systems - LMI Approach", IEEE International Conference on Control, Automation, and Systems, pp. 1861-1866, Seoul, Korea, October 2008.
  • K. Khayati and P. Bigras, "A New Model-Based Dynamic Feedback Control for Systems with Friction", IEEE International Conference on Systems, Man and
    Cybernetics
    , pp. 2710-2715, Montreal, Canada, October 2007.
  • K. Khayati, P. Bigras and L.-A. Dessaint, "A Robust Feedback Linearization Force Control of a Pneumatic Actuator", IEEE International Conference on Systems, Man and Cybernetics, pp. 6113-6119, vol. 7, The Hague, The Netherlands, October 2004.
  • M. Madi, K. Khayati and P. Bigras, "Parameter Estimation for the LuGre Friction Model using Interval Analysis and Set Inversion", IEEE International Conference on Systems, Man and Cybernetics, pp. 428-433, vol. 1, The Hague, The Netherlands, October 2004.
  • K. Khayati, P. Bigras and L.-A. Dessaint, "A Dynamic Feedback Tracking Design for Systems with Friction using the LMI Formulation", IEEE International Conference on Control Applications, pp. 819--824, vol. 1, Taipei, Taiwan, September 2004.
  • K. Khayati, P. Bigras and L.-A. Dessaint, "A Multi-Objective Output-Feedback Controller for System with Friction", 7th International Federation of Automatic Control
    Symposium on Cost Oriented Automation
    , pp. 103-108, Gatineau/Ottawa, Canada, June 2004.
  • K. Khayati, P. Bigras and L.-A. Dessaint, "On Modelization and Robust Controller Synthesis of Pneumatic Actuator Plants using LMI Approach"IMACS & IEEE/SMC Multiconference on Computational Engineering in Systems Applications, S1-R-00-0304: S1-WP-1-C2, Lille, France, July 2003.
  • P. Bigras, T. Wong, and K. Khayati, "Structured Optimal Controller Design Using BMI Formulation", IMACS & IEEE/SMC Multiconference on Computational Engineering in Systems Applications, S1-R-00-0312: S1-TA-1-C5, Lille, France, July 2003.
  • K. Khayati, P. Bigras and L.-A. Dessaint, "A Robust Pole Clustering Design of Pneumatic Systems using LMI Approach", IEEE International Conference on Systems, Man and Cybernetics, pp. 274-279, vol. 4, Hammamet, Tunisia, October 2002.
  • P. Bigras, K. Khayati and T. Wong, "Modified Feedback Linearization Controller for Pneumatic System with Non Negligible Connection Port Restriction", IEEE International Conference on Systems, Man and Cybernetics, pp. 227-231, vol. 2, Hammamet, Tunisia, October 2002.
  • T. Wong, P. Bigras and K. Khayati, "Causality Assignment Using Multi-Objective Evolutionary Algorithms", IEEE International Conference on Systems, Man and Cybernetics, TA2-B3, vol. 4, Hammamet, Tunisia, October 2002.
  • K. Khayati, P. Bigras and L.-A. Dessaint, Retaining or Neglecting Valve Spool Dynamics in Tracking Controller Strategies for Pneumatic Systems, 8th IEEE International Conference on Methods and Models in Automation and Robotics, vol. 2, pp. 1213-1218, Szczecin, Poland, September 2002.
  • P. Bigras and K. Khayati, "Nonlinear Observer for Pneumatic System with Non Negligible Connection Port Restriction", IEEE American Control Conference, pp. 3191-3195, vol. 4, Anchorage, USA, May 2002.
  • Khayati, K., Bigras, P. and Dessaint, L.-A., "Nonlinear Control of Pneumatic Systems"International Conference on Computers and Industrial Engineering, pp. 214-218, Montreal, Canada, November 2001.

Poster Presentations

  • J. Zhu and K. Khayati, "Robust, Smooth and Fast ASMC – Applications to Robot Manipulators", 24th International Congress of Theoretical and Applied Mechanics, Montreal, Canada, August 2016.

Technical Reports

  • K. Khayati, P. Bigras and L.-A. Dessaint, "On Force Control of Pneumatic Actuator Subject to a Position Tracking and a Friction Estimation Based on LuGre Model", Technical Report, ETS-RT-2006-001, ÉTS, September 2006.

Seminars & Invited Talks

  • K. Khayati, "Nonlinear Optimal Control – New Framework and New Perspective", 2nd International Conference on Computer and Information Science and Technology, Ottawa, Canada, May, 2016.

 

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