Publications

Journal papers

1. M.R. Chughtai, I. Ahmed, U. Adeel, M. Iqbal, D. Almakhles and M. Abdelrahim, "Optimized Adaptive Fractional-Order Sliding Mode Control for Quadrotor Trajectory Tracking under External Disturbances",  ISA Transactions, 2026, to appear.

2. M.R. Chughtai, M.L. Anjum, I. Ahmed, M. Iqbal, D. Almakhles and M. Abdelrahim, "Trajectory tracking control design for quadcopter based on optimized integral super-twisting sliding mode technique",  Engineering Science and Technology, 2025, 72, 102222, DOI: 10.1016/j.jestch.2025.102222

3. M. Abdelrahim, M.A. Thabet, H.S. Abbas, M.M.M. Hassan, M.H. Amin, A. Morsi, "Modeling and Control of a Ballbot: A Systematic Approach", IEEE Access, 2025, DOI: 10.1109/ACCESS.2025.3597797.

4. E. Aranda-Escolastico, M. Abdelrahim, D. Fernández-Amorós, M. Guinaldo and L.J. Colombo, "Passivity-based Distributed Event-triggered Flocking Control of Port-Hamiltonian Systems ", IEEE Control Systems Letters , 2025, DOI: 10.1109/LCSYS.2025.3571859.
   
   

5. M.R. Chughtai, I. Ahmed, A. Mughees, M. Iqbal, D. Almakhles and M. Abdelrahim, "Third-Order Sliding Mode Control for Trajectory Tracking of Quadcopters Using Particle Swarm Optimization",  Drones, 2025, 9, 172, 2025, DOI: 10.3390/drones9030172

6. D. Almakhles and M. Abdelrahim, "Output feedback control of LTI systems using quantized periodic event-triggering and 1-bit data transmission",   European Journal of Control, 81, 101146, 2025, DOI: 10.1016/j.ejcon.2024.101146

7. M. Abdelrahim and D. Almakhles, "Dynamic Event-Triggered Control for Sensor–Controller–Actuator Networked Control Systems",   Journal of Sensor and Actuator Networks, 13(5) 61, 2024, DOI: 10.3390/jsan13050061.

8. D. Almakhles, E. Aranda-Escolástico and M. Abdelrahim , "Dynamic Periodic Event-triggered Control for Nonlinear Systems with Output Dynamic Quantization".  Journal of the Franklin Institute, 361(14), 2024, DOI: 10.1016/j.jfranklin.2024.107085.

9. M. Assem, I.M. Hassab-Allah, M.E.H Eltaib and M. Abdelrahim , "Enhanced Detection and Classification of Underwater Objects using ROV and Computer Vision".  Journal of Engineering Sciences, 52(2), 73-86, 2024, DOI: 10.21608/jesaun.2024.257582.1296.

10. M. Assem, I.M. Hassab-Allah, M.E.H Eltaib and M. Abdelrahim , "Identification of Unknown Marine Debris by ROV Using Deep Learning and Different Convolutional Neural Network Structures".  Journal of Engineering Sciences, 52(1), 36-51, 2024, DOI: 10.21608/jesaun.2023.250095.1289.

11. Y. Gazaz, M.E. Soliman, M. Abdelrahim and A.S. Abo El-Lail, "Hydraulic Fluid Temperature -Imposed Nonlinearities in Automotive Active Hydraulic Suspension Systems".  Journal of Engineering Sciences, 52(3), 87-104, 2024, DOI: 10.21608/jesaun.2024.226034.1246 

12. M. Abdelrahim, D. Almakhles and Mohamed Mabrok , "Optimal event-triggered control for wireless power transfer system in electric vehicles". Energy Science & Engineering, 2024, 1-15, DOI: 10.1002/ese3.1775

13. Dhafer Almakhles and Mahmoud Abdelrahim, "A Novel One-bit Dynamic Quantizer for Event-Triggered Control Systems". Information Sciences, 660:120113, 2024, DOI: 10.1016/j.ins.2024.120113 

14. Dhafer Almakhles and Mahmoud Abdelrahim, "Event-Triggered Dynamic Quantization For Nonlinear Systems with One-bit Data Transmission". IEEE Transactions on Automatic Control, 2023, DOI: 10.1109/TAC.2023.3347686, to appear.

15. M. Mabrok and M. Abdelrahim, "Robust Stabilization of LTI Negative Imaginary Systems Using The Nearest Negative Imaginary Controller". IET Control Theory & Applications, 2023, DOI: 10.1049/cth2.12578.

16. D. Almakhles and M. Abdelrahim. "Asynchronous Dynamic Quantization for Nonlinear Systems with One-bit Data Transmission". Systems & Control Letters. 181, 105630, 2023, DOI: 10.1016/j.sysconle.2023.105630

17. M. Abdelrahim and D. Almakhles, "Output-based Dynamic Periodic Event-triggered Control With Application to Tunnel Diode System".  Journal of Sensor and Actuator Networks, 2023, 12(5): 66, DOI: 10.3390/jsan12050066

18. M. Abdelrahim and D. Almakhles, "Output Feedback Stabilization of Doubly Fed Induction Generator Wind Turbines under Event-Triggered Implementations". Journal of Sensor and Actuator Networks 2023, 12(5): 64, DOI: 10.3390/jsan12050064 

19. M. Abdelrahim and D. Almakhles, "Synthesis of State/Output Feedback Event-Triggered Controllers for Load Frequency Regulation in Hybrid Wind–Diesel Power Systems ". Applied Sciences,  2023, 13, 9652, DOI: 10.3390/app13179652

20. M.F. Elmorshedy; D. Almakhles and M. Abdelrahim, "Hybrid Dynamical Modeling and Control of Permanent Magnet Synchronous Motors: Hardware-in-the-Loop Verification". Processes, 2023, 11, 2370, DOI: 10.3390/pr11082370 

21. M. Abdelrahim, D. Almakhles, "Observer-Based Control of Inductive Wireless Power Transfer System Using Genetic Algorithm". Processes, 2023; 11(6):1859, DOI: 10.3390/pr11061859.

22. M. Abdelrahim, M.A. Mabrok and M.A.H. Darwish, “Networked Control Design for an Engine Throttle Valve System”, International Journal of Control, 2022, DOI: 10.1080/00207179.2022.2069050. 

23. Nadin Geies, M.E.H. Eltaib, Hany A. Mohamed and Mahmoud Abdelrahim, "Grasp Planning for Underactuated Three-Fingers Robot Gripper Using Deep Convolutional Neural Network", International Journal of Mechanical Engineering, 7 (1), 6535 – 6543 , 2022.

24. Mahmoud Abdelrahim and Omar Salah, "Robust Tracking Control for Slosh-container  System Against Viscous Friction Uncertainty", Journal of the Egyptian Society of Tribology, 19 (1), 55 –65, 2022, DOI: 10.21608/jest.2022.216108. 

25. M. Abdelrahim, V.S. Dolk and W.P.M.H. Heemels, “Input-to-state stabilizing event-triggered control for linear systems with distributed and quantized output measurements”, IEEE Transactions on Automatic Control, IEEE Transactions on Automatic Control, 64(12), 4952 - 4967, 2019, DOI: 10.1109/TAC.2019.2900338.

26. M. Abdelrahim, R. Postoyan and J. Daafouz and D. Nešić and W.P.M.H. Heemels, “Co-design of output feedback laws and event-triggering conditions for the L2-stabilization of linear systems”, Automatica, 87, 337-344, 2018, DOI: https://doi.org/10.1016/j.automatica.2017.10.008.

27. M. Abdelrahim, R. Postoyan and J. Daafouz and D. Nešić, “Robust event-triggered output feedback controllers for nonlinear systems”, Automatica, 75, 96-108, 2017, DOI: https://doi.org/10.1016/j.automatica.2016.09.044 .

28. M. Abdelrahim, R. Postoyan, J. Daafouz and D. Nešić, “Stabilization of nonlinear systems using event-triggered output feedback controllers”, IEEE Transactions on Automatic Control, 61(9), 2682-2687, 2016, DOI: 10.1109/TAC.2015.2502145 .

29. M. Abdelrahim, R. Postoyan and J. Daafouz, “Event-triggered control of nonlinear singularly perturbed systems based only on the slow dynamics”, Automatica, 52, 15-22, 2015, DOI: https://doi.org/10.1016/j.automatica.2014.10.125 .

30. A. B. Sharkawy, M. M. Othman and A. A. Khalil, “A Robust Fuzzy Tracking Control Scheme for Robotic Manipulators with Experimental Verification”, Intelligent Control and Automation, 2, 100-111, 2011, DOI: 10.4236/ica.2011.22012.

31. M. Othman, A. Sharkawy, A.A. Khalil, “Fuzzy Tracking Control of Two Degrees of Freedom Robotic Arm”, Journal of Engineering Sciences, Assiut University, 38(1), 135-156, 2010, DOI: 10.21608/jesaun.2010.123792.

Conference papers

1. M.R. Chughtai, A.R. Memon, M. Iqbal, D. Almakhles and M. Abdelrahim, "An Adaptive LPV Observer For Estimating the Current in a Mechatronic Actuator", In Proceedings of the 2025 International Conference on Control, Automation and Diagnosis (ICCAD’25), Barcelona, Spain, 1-3 July, 2025, pp. 1-6, DOI: 10.1109/ICCAD64771.2025.11099429.

2. M. Abdelrahim, and D. Almakhles, "Dynamic Event-triggered Control for LTI Systems With Asynchronous Input/Output Transmissions", In Proceedings of the 2024 American Control Conference (ACC), Toronto, ON, Canada, 10-12 July, 2024, pp. 4681-4686, DOI: 10.23919/ACC60939.2024.10644371.

3. M. Abdelrahim, D. Almakhles and A. Swikir, "Quantized Periodic Event-triggered Control for LTI Systems with 1-bit Data Transmission", In Proceedings of the 22nd European Control Conference (ECC), Stockholm, Sweden, 25-28 June, 2024, pp. 1497-1502, DOI: 10.23919/ECC64448.2024.10591084.

4. M. Abdelrahim and D. Almakhles, "Dynamic Periodic Event-triggered Control for Linear Systems Based on Partial State Information", In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2023), Rome, Italy, 13-15 November, 2023, PP. 206-2013, DOI: 10.5220/0012183600003543.

5. M. Abdelrahim, M. Cucuzzella and D. Almakhles, "Output Feedback Event-triggered Control of Doubly Fed Induction Generators For Wind Turbines", In Proceedings of the 11th International Conference on Smart Grid (icSmartGrid 2023), Paris, France, 4-7 June, 2023, DOI: 10.1109/icSmartGrid58556.2023.10170798.

6. D. Almakhles and M. Abdelrahim, "Asynchronous Dynamic Quantization for Nonlinear Systems with One-bit Data Transmission", In Proceedings of the 2023 American Control Conference (ACC 2023), San Diego, California, USA, May 31-June 2, 2023, DOI: 10.23919/ACC55779.2023.10156316 .

7. N. Geies, M. Abdelrahim, M. E. H. Eltaib and H. A. Mohamed, “Grasping stability analysis of an under actuated three fingers adaptive gripper on MATLAB sim-mechanics”, In Proceedings of the 16th International Computer Engineering Conference (ICENCO), Cairo University, Giza , Egypt, PP. 141-146, 2020, DOI: 10.1109/ICENCO49778.2020.9357396.

8. M. Abdelrahim, J.M. Hendrickx and W.P.M.H. Heemels, “MAX-consensus in open multi-agent systems with gossip interactions”, In Proceedings of the 56th IEEE Conference on Decision and Control, Melbourne, Australia, PP. 4753–4758, 2017, DOI: 10.1109/CDC.2017.8264362 .

9. V.S. Dolk, M. Abdelrahim and W.P.M.H. Heemels, “Event-triggered consensus seeking under non-uniform time-varying delays”, In Proceedings of the 20th IFAC World Congress, Invited Paper, Toulouse, France, PP. 10096-10101, 2017, DOI: https://doi.org/10.1016/j.ifacol.2017.08.1783 .

10. E.A. Escolástico, M. Abdelrahim, M. Guinaldo, S. Dormido and W.P.M.H. Heemels, “Design of periodic event-triggered control for polynomial systems: A delay system approach”, In Proceedings of the 20th IFAC World Congress, Invited Paper, Toulouse, France, PP. 8159-8164, 2017, DOI: https://doi.org/10.1016/j.ifacol.2017.08.748 .

11. M. Abdelrahim, V.S. Dolk and W.P.M.H. Heemels, “Input-to-state stabilizing event-triggered control for linear systems with output quantization”, In Proceedings of the 55th IEEE Conference on Decision and Control, Invited Paper, Las Vegas, U.S.A, PP. 483-488, 2016, DOI: 10.1109/CDC.2016.7798315 .

12. M. Abdelrahim, R. Postoyan, J. Daafouz and D. Nešić, “Event-triggered dynamic feedback controllers for nonlinear systems with asynchronous transmissions”, In Proceedings of the 54th IEEE Conference on Decision and Control, Invited Paper, Osaka, Japan, PP. 5494-5499, 2015, DOI: 10.1109/CDC.2015.7403080 .

13. M. Abdelrahim, R. Postoyan, J. Daafouz and D. Nešić, “Input-to-state stabilization of nonlinear systems using event-triggered output feedback controllers”, In Proceedings of the 14th European Control Conference, Linz, Austria, PP.2185–2190, 2015, DOI: 10.1109/ECC.2015.7330863 .

14. M. Abdelrahim, R. Postoyan, J. Daafouz and D. Nešić, “Co-design of output feedback laws and event-triggering conditions for linear systems”, In Proceedings of the 53rd IEEE Conference on Decision and Control, Invited Paper, Los Angeles, U.S.A. PP.3560-3565, 2014, DOI: https://doi.org/10.1016/j.automatica.2017.10.008 .

15. M. Abdelrahim, R. Postoyan, J. Daafouz and D. Nešić, “Stabilization of nonlinear systems using event-triggered output feedback controllers”, In Proceedings of the 21th International Symposium on Mathematical Theory of Networks and Systems, Groningen, The Netherlands, PP.274-281, 2014.

16. M. Abdelrahim, R. Postoyan and J. Daafouz, “Event-triggered control of nonlinear singularly perturbed systems based only on the slow dynamics”, In Proceedings of the 9th IFAC Symposium on Nonlinear Control Systems, Invited Paper, Toulouse, France, PP.347-352, 2013.

Book contribution

1. M. Abdelrahim, R. Postoyan, J. Daafouz and D. Nešić, “Output feedback event-triggered control”, in “Delays In Networked Control Systems”, Editors: A. Seuret, L. Hetel, J. Daafouz and K.H. Johansson, Springer International Publishing Switzerland, PP.113-131, 2016, DOI: https://doi.org/10.1007/978-3-319-32372-5 .

Theses

1. M. Abdelrahim, Output feedback event-triggered control, PhD thesis, University of Lorraine (Nancy, France), 2014, Link: https://hal.science/tel-01750879v2.

2. M. Abdelrahim, Fuzzy control of two degrees of freedom robotic arm, M.Sc. thesis, Assiut University (Assiut, Egypt), 2010.