Publications

Journal papers

1. 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

2. 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.

3. 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.
   
   

4. 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

5. 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

6. 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.

7. 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.

8. 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.

9. 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.

10. 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 

11. 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

12. 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 

13. 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.

14. 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.

15. 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

16. 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

17. 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 

18. 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

19. 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 

20. 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.

21. 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. 

22. 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.

23. 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. 

24. 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.

25. 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.

26. 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 .

27. 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 .

28. 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 .

29. 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.

30. 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.