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About

Salim Hadj-Said is a control systems researcher whose work centers on the challenging dynamics of two-wheeled self-balancing robots. His primary research areas include adaptive observers, sliding mode control, and robust state estimation for nonlinear systems. Hadj-Said’s most significant contribution is the development of an adaptive observer-based sliding mode control scheme that enables a two-wheeled robot to maintain balance and track trajectories even under terrain inclination and external disturbances. This work, published in 2021 and garnering 12 citations, demonstrates his ability to address real-world instability challenges by simultaneously estimating unmeasured states and unknown terrain parameters. Earlier, he designed an adaptive observer for robots with a varying center of mass, estimating body mass to improve PID control performance. He also developed a high-gain controller with state feedback and integrated filtering to ensure upright stability and smooth trajectory tracking. Though his citation counts are modest, Hadj-Said’s focused contributions to observer design and robust control for mobile robots offer practical solutions for autonomous systems operating in unpredictable environments.