PhD Dissertation
M. Saied, ''Fault-Tolerant Control of an Octorotor Unmanned Aerial Vehicle Under Actuators Failures'', PhD Dissertation, Sorbnnes Universities, University of Technology of Compiègne, July 2026.
Journal papers
1) M. Saied, H. Shraim, B. Lussier, I. Fantoni and C. Francis, “Local Controllability and Attitude Stabilization of Multirotor UAVs: Validation on a Coaxial octorotor”, Robotics and Autonomous Systems, vol. 91, pp. 128-138, 2017. https://doi.org/10.1016/j.robot.2017.01.007
2) M. Saied, M. Knaiber, H. Mazeh, H. Shraim, C. Francis, ‘’BFA Fuzzy Logic Based Control Allocation for Fault Tolerant Control of Multirotor UAVs”, The Aeronautical Journal, vol. 123, pp. 1356-1373, 2019. https://doi.org/10.1017/aer.2019.58
3) M. Saied, B. Lussier, I. Fantoni, H. Shraim, C. Francis, ‘’Active versus Passive Fault Tolerant Control of a Redundant Multirotor UAV”, Aeronautical Journal, vol. 124, pp. 385-408, 2020. https://doi.org/10.1017/aer.2019.149
4) M. Slim, M. Saied, H. Mazeh, H. Shraim, C. Francis, ‘’Fault-Tolerant Control Design for Multirotor UAVs Formation Flight’’, Gyroscopy and Navigation, vol. 29, pp. 78-96, 2021. https://doi.org/10.1134/S2075108721020061
5) M. Saied, A. Tabikh, H. Hamadi, C. Francis, ‘’An Informational Approach for Fault-Tolerant Data Fusion Applied for UAV Attitude, Altitude and Position Estimation’’, IEEE Sensors Journal, vol. 21, pp. 27776-27778, 2021. https://doi.org/10.1109/JSEN.2021.3124731
6) M. Saied, H. Atieh, H. Mazeh, H. Shraim, C. Francis, ‘’’Supervised Learning Classification in Fault Diagnosis of Unmanned Aerial Vehicles. Case Study’’, SAE International Journal of Aerospace, 16(1):57-73, 2023. https://doi.org/10.4271/01-16-01-0004.
7) M. Saied, M. Kassem, H. Shraim, C. Francis, ‘’Fault Tolerance Evaluation of Model-Free Controllers with Application to Unmanned Aerial Systems’’, Drone Systems and Applications, 2023. https://doi.org/10.1139/dsa-2022-0048
8) Z. Keserwani, M. Saied, C. Francis, ‘’Medium and Low-Level Energy Saving Control Strategies for Electric-Powered UAVs’’, International Review of Automatic Control, vol. 16, No. 2, 2023. https://doi.org/10.15866/ireaco.v16i2.23120
9) M. Saied, H. Shraim, C. Francis, ‘’A Review on Recent Development of Multirotor UAV Fault-Tolerant Control Systems’’, IEEE Aerospace and Electronic Systems Magazine, vol. 39, no. 9, pp. 146-180, Sept. 2024, https://doi.org/10.1109/MAES.2023.3327697
10) M. Saied, A. Mishi, C. Francis, ‘’A deep Learning Approach for Fault-Tolerant Data Fusion Applied to UAVs Position and Orientation Estimation’’, Electronics 2024, 13(16), 3342; https://doi.org/10.3390/electronics13163342
11) M. Saied, R Ali, C Francis, G Radilla, Z Noun, ‘’ Learning-Based Approach for Automated Surface Inspection with Industrial Tomography Imaging’’, Journal of Nondestructive Evaluation, Diagnostics and Prognostics of Engineering Systems, vol. 7, 2024. https://doi.org/10.1115/1.4065428
12) M Saied, N Tahan, K Chreif, C Francis, Z Noun, ‘’ Development of deep reinforcement learning-based fault diagnosis method for actuator faults in unmanned aerial vehicles,’’ The Aeronautical Journal. 2025; 129(1335): 1303-1319. https://doi.org/10.1017/aer.2024.150
13) H. Shouib, M. Saied, C. Francis, H. Shraim and Z. Noun, ‘’ Fault Tolerant and Cyber Resilient Formation Control of Multiple UAVs’’, Gyroscopy and Navigation, vol. 16, pp. 41-56, 2025. . https://doi.org/10.1134/S2075108724600108
14) F. Shalhoub, M. Saied, H. Termous, C. Francis, H. Shraim, ‘’Fault-Tolerant Control for Four-Wheels Independently Actuated Electric Vehicles,’’ Journal of Prognostics and Health management, 2026. https://doi.org/10.36001/ijphm.2026.v17i1.4622
15) F. Makki, M. Saied, C. Francis, H. Shraim, ‘’ Condition Based Monitoring of UAV Systems: Application to Motor Failure Detection,’’ Journal of Nondestructive Evaluation, Diagnostics and Prognostics of Engineering Systems, 2026. https://doi.org/10.1115/1.4071044
Conference papers
1) M. Saied, B. Lussier, I. Fantoni, C. Francis, H. Shraim and G. Sanahuja, « Fault Diagnosis and Fault Tolerant Control Strategy for Rotor Failure in an Octorotor”, IEEE International Conference on Robotics and Automation (ICRA), May 26-30, 2015, Washington, DC.
2) M. Saied, B. Lussier, I. Fantoni, C. Francis and H. Shraim, “Fault Tolerant Control for Multiple Successive failures in an Octorotor”, IEEE/RSJ International Conference on Intelligent Robots and Systems, September 28 – October 2, 2015, Hamburg, Germany.
3) M. Saied, H. Shraim, C. Francis, I. Fantoni and B. Lussier, “Actuator Fault Diagnosis in an Octorotor UAV using Sliding Modes Technique: Theory and Experimentation”, European Control Conference, July 15-17, Linz, Austria.
4) M. Saied, D. AlShamaa, H. Shraim, C. Francis, B. Lussier and I. Fantoni, “Model Identification and Validation for translational movements of an Octorotor UAV”, IEEE workshop on Research, Education and Development of Unmanned Aerial Systems, November 23-25, Cancun, Mexico.
5) M. Saied, H. Shraim, C. Francis, I. Fantoni and B. Lussier, “Controllability Analysis and Motors Failures Symmetry in a Coaxial Octorotor”, IEEE International Conference on Technological Advances in Electrical, Electronics and Computer Engineering (TAEECE), April 29 - May 1, 2015, Beirut, Lebanon.
6) M. Saied, I. Fantoni, B. Lussier C. Francis and H. Shraim, ‘’Détection et Diagnostic d’une Défaillance d’Actionneur dans un Octorotor’’, Congrès International Pluridisciplinaire en Qualité, Sûreté de Fonctionnement et Développement Durable (Qualita), 17-19 Mars, 2015, Nancy, France.
7) M. Saied, B. Lussier, I. Fantoni, H. Shraim and C. Francis, “Passive Fault Tolerant Control of an Octorotor using Super Twisting Algorithm: Theory and Experiments”, International Conference on Control and Fault-Tolerant Systems (Systol 2016), Barcelona, Spain.
8) M. Saied, H. Shraim, C. Francis, I. Fantoni and B. Lussier, ‘’Fault Diagnosis and Fault-Tolerant Control of an Octo UAV using motors speeds measurements”, IFAC world Congress, July 2017, Toulouse, France.
9) H. Mazeh, M. Saied, H. Shraim, C. Francis, ‘’Fault-Tolerant Control of an Hexarotor Unmanned Aerial Vehicle Applying Outdoor Tests and Experiments’’, IFAC Symposium on Robot Control SYROCO, August 2018, Budapest, Hungary.
10) H. Mazeh, M. Saied, C. Francis, ‘’Development of a multirotor-based system for air quality monitoring’’, Third International Conference on Electrical and Biomedical Engineering, Clean Energy and Green Computing, May 2018, Beirut, Lebanon.
11) M. Saied, T. Mahairy, C. Francis, H. Shraim, H. Mazeh, M. Rafei, ‘’Differential Flatness-Based Approach for Sensors and Actuators Fault Diagnosis of a Multirotor UAV’’, Accepted in IFAC Symposium on Nonlinear Control Systems, Vienna, Austria, 2019.
12) M. Saied, M. Slim, H. Mazeh, C. Francis, H. Shraim, ‘’Unmanned Aerial Vehicles Fleet Control via Artificial Bee Colony Algorithm’’, Accepted in International Conference on Control and Fault Tolerant Systems, 2019.
13) M. Saied, F. Rasheed, C. Francis, ‘’Metaheuristic Optimization-based Fault-Tolerant Formation Control of Multiple UAVs’’, ICUAS, Croatia, 2022.
14) T. Karaki, M. Saied, H. Shraim, ‘’Deep Reinforcement Learning-Based Approach for Fault-Tolerant Control of PV Systems in Smart Grids’’, International Conference on Systems and Control (ICSC), Marseille, 2022.
15) M. Saied, S Shehayib, C Francis, Z Noun, ‘’Transfer Learning-Based Approach for Automated Power Lines Inspection,’’ Regional Conference on Power and Energy Sustainability, 123-127, Lebanon, 2025.
16) B. Chebl, M. Saied, H. Shraim, C. Francis, Z. Noun, ‘’Optimal Energy-Efficient Trajectory Planning for Multirotor UAVs,’’ 2025 International Conference on Control, Automation, and Instrumentation (IC2AI), Lebanon, 2025.
17) C. Francis, M. Moghubat, M. Saied, ‘’ A Comparative Study of CO2 emissions in Electrical, Hybrid, Fuel Cell and Bioethanol Fuel Cell Vehicles,’’ REDEC, Lebanon, 2025.