Robotics · Automatic Control · Autonomous Systems
Researcher · University Lecturer · Robotics & Control
I develop intelligent robotic and electromechanical systems by combining nonlinear control, state estimation, optimization, simulation, and experimental validation. My current research priorities are robotic manipulation and multi-robot coordination, built on a doctoral foundation in sensorless electric drives for electric vehicles.
Introduction
A brief introduction to my academic background, teaching and research activities in automatic control and robotics, and my interest in scientific collaborations.
Presentation in French.
My work spans automatic control, robotics, and intelligent autonomous systems, integrating nonlinear control, state estimation, optimization, simulation, and experimental validation. My research extends from sensorless control of electrical drives to robotic manipulation, grasping, and multi-robot coordination, with the broader objective of developing reliable and intelligent solutions for complex robotic and electromechanical systems.
Research Introduction
This two-part presentation provides an overview of the robotic platforms and experimental systems that form part of my research environment. It highlights my work in robotic manipulation, autonomous systems, control, and robot–environment interaction, from the presentation of different robotic platforms to the experimental execution of manipulation tasks on real robotic systems.
A presentation of the robotic platforms used in my research environment, highlighting mobile and manipulation robots and their roles in experimental robotics. The video introduces the laboratory systems and provides context for my work on robotic manipulation, autonomous operation, and robot–environment interaction.
A demonstration of an experimental robotic manipulation setup, showing the integration of software control, robotic motion, and object interaction. The video illustrates the practical implementation of manipulation tasks and the connection between control algorithms and real robotic execution.
Academic profile
My research trajectory connects automatic control, state estimation, electric-machine drives, robotic manipulation, and cooperative autonomous systems. I completed a Ph.D. in Informatics and Automatic Control at Université de Lorraine, with research on sensorless control and torque-ripple reduction for synchronous reluctance machines in electric-vehicle applications.
At Sorbonne Université's Institut des Systèmes Intelligents et de Robotique (ISIR), ASIMOV team, my work expanded toward robotic manipulation, adaptive control, robot–environment interaction, and grasp-aware object placement. At Nantes Université, my research programme focuses on multi-robot coordination in shared spaces alongside university teaching.
Research directions
Quality-Diversity optimization, geometric placement evaluation, grasping, force control, ROS2, PyBullet, and simulation-to-hardware transfer.
Coordination and safe operation of multiple robots in shared environments, cooperative decision-making, autonomous systems, and distributed control.
Robust and nonlinear control, EKF and sliding-mode observers, sensorless drives, SynRM control, torque-ripple reduction, and electric mobility.
Ongoing robotics project
The Robot-Independent Geometric Manipulation Proxy (RGMP) extends Quality-Diversity robotic placement toward manipulation readiness by ranking mechanically stable placements using a Grasp Friendliness Index (GFI).
Highest-ranked manipulation-friendly placements generated by the RGMP/GFI evaluation framework.
Autonomous grasp execution from an exported high-GFI placement.
Validation on a geometrically different concave object.
Validation on a thin, elongated object using an RGMP-ranked placement.
Research archive
Research on sensorless control, state estimation, robust and nonlinear control, field-oriented control, MTPA operation, and torque-ripple minimization for synchronous reluctance machines in electric-vehicle propulsion.
The work combines mathematical modelling, advanced nonlinear control architectures, simulation, and experimental validation for high-performance electric-drive systems.
Electric-vehicle propulsion architecture using a synchronous reluctance machine.
Research figures and control architectures
Mathematical representation of the electric-vehicle propulsion system considered in the doctoral research.
Dynamic representation of the synchronous reluctance machine in the rotating d-q reference frame.
Robust nonlinear control architecture developed for high-performance synchronous reluctance motor control.
Higher-order sliding-mode control structure designed to improve robustness while reducing chattering effects.
Selected simulation and experimental results
Reference-speed tracking performance under changing operating conditions.
View result (PDF) →q-axis current response and reference tracking across the evaluated drive operating conditions.
View result (PDF) →d-axis current response and reference tracking performance.
View result (PDF) →Torque tracking performance and torque-ripple behaviour under varying operating conditions.
View result (PDF) →Selected publications
O. D. Aladetola, Q. Armand, F. Ben Amar, and S. Doncieux.
View project repository →Research on advanced torque-ripple minimization for synchronous reluctance machines in electric-vehicle drive applications.
View publication →Investigation of torque-ripple reduction strategies for synchronous reluctance motor drives intended for electric-vehicle propulsion systems.
View publication →Research combining sensorless control, state estimation, and torque-ripple reduction for synchronous reluctance electric-drive systems.
View publication →Teaching
Manipulator kinematics, Jacobians, position/force control, ROS2 implementation, and simulation laboratories.
Continuous and discrete control, frequency-domain methods, dynamic-system modelling, and controller design.
Python, C++, object-oriented programming, numerical implementation, digital and random signal processing.
Academic journey
Nantes Université · Teaching and Research Faculty
Research on multi-robot coordination in shared spaces and intelligent robotic coordination, alongside university teaching.
Sorbonne Université · Institut des Systèmes Intelligents et de Robotique (ISIR) · ASIMOV Team
Robotic manipulation, adaptive robotic control, robot–environment interaction, grasp-aware object placement, Quality-Diversity optimization, and teaching from undergraduate to Master's level.
Université de Lorraine · LCOMS Laboratory · France
Sensorless control, nonlinear and robust control, state estimation, Extended Kalman Filtering, sliding-mode observers, synchronous reluctance machines, and electric-vehicle propulsion systems.
Federal Polytechnic Ilaro · Nigeria
Teaching and research in automatic control, robotics, programming, instrumentation, PLC systems, embedded systems, digital signal processing, and engineering education.