Papers
15
Total Citations
391
H-Index
9
About
Abdelaziz Benallegue is a robotics researcher whose work spans autonomous aerial vehicles, redundant robot manipulators, humanoid control, and multi-robot systems. He is perhaps best known for his pioneering 2006 contribution combining backstepping and sliding mode control techniques for miniature quadrotor helicopters — a foundational work that has garnered 179 citations and helped shape the trajectory of unmanned aerial vehicle control research. Alongside this, Benallegue has made sustained contributions to the control of redundant robot manipulators, developing neural network-based adaptive controllers and variable structure approaches that address complex challenges such as real-time collision avoidance with mobile obstacles and efficient kinematic inversion. His research has progressively extended into humanoid robotics, where he has proposed robust torque control frameworks using quadratic programming with integral gains, as well as safety-oriented compliance strategies for robots with high-reduction gears. More recently, he has explored multi-robot coordination for energy-efficient exploration environments. Across his career, Benallegue consistently bridges theoretical rigor — employing tools from adaptive control, neural networks, and optimization — with practical robotic applications, establishing him as a versatile and impactful contributor to modern robotics and autonomous systems research.
Research Focus
Key Achievements
Top Papers
- 1Backstepping Sliding Mode Control Applied to a Miniature Quadrotor Flying Robot179 citations · 2006
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- 5Robust Humanoid Control Using a QP Solver with Integral Gains21 citations · 2018
- 6Multi-robot Coordination for Energy-Efficient Exploration20 citations · 2019
- 7A Stable Neuro-Adaptive Controller for Rigid Robot Manipulators16 citations · 1997
- 8Kinematic inversion13 citations · 2003
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