Ahmed Chemori

168

Documents

Researcher identifiers

ahmed-chemori
0000-0001-9739-9473
Google Scholar : https://scholar.google.fr/citations?user=EQP56YEAAAAJ&hl=en
IdRef : 099234815

Contact

Web site

http://www.lirmm.fr/~chemori/

Presentation

English
French

Research domains

Publications

	A novel intelligent RISE feedback control of autonomous tethered underwater vehicles: Design & real-time experiments Raissa Benazouz , Ahmed Chemori , Vincent Creuze Ocean Engineering, 2024, 300, pp.117470. ⟨10.1016/j.oceaneng.2024.117470⟩ Journal articles lirmm-04507735v1
	STA-based design of an adaptive disturbance observer for autonomous underwater vehicles: From concept to real-time validation Jesús Guerrero , Ahmed Chemori , Jorge Torres , Vincent Creuze Control Engineering Practice, 2024, 144, pp.105831. ⟨10.1016/j.conengprac.2023.105831⟩ Journal articles lirmm-04364453v1
	Improved Adaptive High-Order Sliding Mode-Based Control for Trajectory Tracking of Autonomous Underwater Vehicles Jesus Guerrero , Ahmed Chemori , Vincent Creuze , Jorge Torres IEEE Journal of Oceanic Engineering, inPress, pp.1-13. ⟨10.1109/JOE.2024.3381391⟩ Journal articles lirmm-04605914v1
	A New Adaptive Robust Sliding Mode Control for High-Precision PKMs: Design, Stability Analysis, and Experiments Youcef Mohamed Fitas , Ahmed Chemori , Johann Lamaury , Thierry Roux IEEE Transactions on Automation Science and Engineering, 2024, pp.1-17. ⟨10.1109/TASE.2024.3461156⟩ Journal articles lirmm-04713844v1
	Saturated STA-based sliding-mode tracking control of AUVs: Design, stability analysis, and experiments Jesús Guerrero , Ahmed Chemori , Vincent Creuze , Jorge Torres , Eduardo Campos Ocean Engineering, 2024, 301, pp.117560. ⟨10.1016/j.oceaneng.2024.117560⟩ Journal articles lirmm-04516120v1
	Saturation-Based Adaptive Tracking Control of Underwater Vehicles: From Theoretical Design to Real-Time Experiments Auwal Tijjani Shehu , Ahmed Chemori , Vincent Creuze IEEE Transactions on Systems, Man, and Cybernetics: Systems, inPress, ⟨10.1109/TSMC.2024.3412797⟩ Journal articles lirmm-04636680v1
	Socializing A* Algorithm for Crowd- and Socially Aware Navigation Seif Eddine Seghiri , Noura Mansouri , Ahmed Chemori Arabian Journal for Science and Engineering, inPress, ⟨10.1007/s13369-024-09334-6⟩ Journal articles lirmm-04663497v1
	A new resampling algorithm for particle filters and its application in global localization within symmetric environments Seif Eddine Seghiri , Noura Mansouri , Ahmed Chemori Transactions of the Institute of Measurement and Control, inPress, ⟨10.1177/01423312241267042⟩ Journal articles lirmm-04675915v1
	A novel low-cost ZMP estimation method for humanoid gait using inertial measurement devices: Concept and experiments Ratan Das , Ahmed Chemori , Neelesh Kumar International Journal of Humanoid Robotics, 2023, 20 (01), pp.2350003. ⟨10.1142/S0219843623500032⟩ Journal articles lirmm-03978124v1
	Self-organizing neural network for reproducing human postural mode alternation through deep reinforcement learning Keli Shen , Guanda Li , Ahmed Chemori , Mitsuhiro Hayashibe Scientific Reports, 2023, 13 (1), pp.8966. ⟨10.1038/s41598-023-35886-y⟩ Journal articles lirmm-04116304v1
	Structural reliability based energy-efficient arctic position mooring control of moored offshore structures under ice loads Xiaoyue Zhang , Yuanhui Wang , Ahmed Chemori Ocean Engineering, 2023, 268, pp.113435. ⟨10.1016/j.oceaneng.2022.113435⟩ Journal articles lirmm-03909151v1
	Fault-tolerant control allocation for a bio-inspired underactuated AUV in the presence of actuator failures: Design and experiments Walid Remmas , Ahmed Chemori , Maarja Kruusmaa Ocean Engineering, 2023, 285, pp.115327. ⟨10.1016/j.oceaneng.2023.115327⟩ Journal articles lirmm-04165240v1
	Optimal dimensional design of parallel manipulators with an illustrative case study: A review Ridha Kelaiaia , Ahmed Chemori , Allaoua Brahmia , Adlen Kerboua , Abdelouahab Zaatri Mechanism and Machine Theory, 2023, 188, pp.105390. ⟨10.1016/j.mechmachtheory.2023.105390⟩ Journal articles lirmm-04099672v1
	Time-delay high-order sliding mode control for trajectory tracking of autonomous underwater vehicles under disturbances Jesus Guerrero , Ahmed Chemori , Jorge Torres , Vincent Creuze Ocean Engineering, 2023, 268, pp.113375. ⟨10.1016/j.oceaneng.2022.113375⟩ Journal articles lirmm-03902652v1
	Adaptive RISE Feedback Control for Robotized Machining With PKMs: Design and Real-Time Experiments Jonatan Martin Escorcia-Hernandez , Ahmed Chemori , Hipolito Aguilar-Sierra IEEE Transactions on Control Systems Technology, 2023, 31 (1), pp.39-54. ⟨10.1109/TCST.2022.3169015⟩ Journal articles lirmm-03664459v1
	Continuous–Discrete Observation-Based Robust Tracking Control of Underwater Vehicles: Design, Stability Analysis, and Experiments Auwal Shehu Tijjani , Ahmed Chemori , Sofiane Ahmed Ali , Vincent Creuze IEEE Transactions on Control Systems Technology, 2023, 31 (4), pp.1477--1492. ⟨10.1109/TCST.2022.3224321⟩ Journal articles lirmm-03883697v1
	FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs Hussein Saied , Ahmed Chemori , Mohamed Bouri , Maher El Rafei , Clovis Francis IEEE Transactions on Robotics, 2023, 39 (4), pp.3167-3184. ⟨10.1109/TRO.2023.3255586⟩ Journal articles lirmm-04065695v1
	Reliability and validity analysis of MediaPipe-based measurement system for some human rehabilitation motions Ameur Latreche , Ridha Kelaiaia , Ahmed Chemori , Adlen Kerboua Measurement - Journal of the International Measurement Confederation (IMEKO), 2023, pp.112826. ⟨10.1016/j.measurement.2023.112826⟩ Journal articles lirmm-04055464v1
	A New Home-Based Upper- and Lower-Limb Telerehabilitation Platform with Experimental Validation Ameur Latreche , Ridha Kelaiaia , Ahmed Chemori , Adlen Kerboua Arabian Journal for Science and Engineering, 2023, 48 (8), pp.10825-10840. ⟨10.1007/s13369-023-07720-0⟩ Journal articles lirmm-04046617v1
	A new fast nonlinear model predictive control of parallel manipulators: Design and experiments Ahmed Chemori , Rihab Kouki , Faouzi Bouani Control Engineering Practice, 2023, 130, pp.105367. ⟨10.1016/j.conengprac.2022.105367⟩ Journal articles lirmm-03834682v1
	Kinematic sensitivity analysis of manipulators using a novel dimensionless index Allaoua Brahmia , Ridha Kelaiaia , Olivier Company , Ahmed Chemori Robotics and Autonomous Systems, 2022, 150, pp.104021. ⟨10.1016/j.robot.2022.104021⟩ Journal articles lirmm-03523086v1
	An Assistive Explicit Model Predictive Control Framework for a Knee Rehabilitation Exoskeleton Ines Jammeli , Ahmed Chemori , Huiseok Moon , Salwa Elloumi , Samer Mohammed IEEE/ASME Transactions on Mechatronics, 2022, 27 (5), pp.3636-3647. ⟨10.1109/TMECH.2021.3126674⟩ Journal articles lirmm-03495187v1
	On Robust Mechanical Design of PAR2 Delta-Like Parallel Kinematic Manipulator Allaoua Brahmia , Ridha Kelaiaia , Ahmed Chemori , Olivier Company Journal of Mechanisms and Robotics, 2022, 14 (1), pp.#JMR-21-1145. ⟨10.1115/1.4051360⟩ Journal articles lirmm-03246589v1
	Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots Ghina Hassan , Marc Gouttefarde , Ahmed Chemori , Pierre-Elie Hervé , Maher El Rafei IEEE/ASME Transactions on Mechatronics, 2022, 27 (6), pp.4707-4717. ⟨10.1109/TMECH.2022.3164247⟩ Journal articles lirmm-03650958v1
	A survey on tracking control of unmanned underwater vehicles: Experiments-based approach Auwal Tijjani Shehu , Ahmed Chemori , Vincent Creuze Annual Reviews in Control, 2022, 54, pp.125-147. ⟨10.1016/j.arcontrol.2022.07.001⟩ Journal articles lirmm-03776018v1
	A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots João Cavalcanti Santos , Marc Gouttefarde , Ahmed Chemori IEEE Transactions on Robotics, 2022, 38 (4), pp.2597-2616. ⟨10.1109/TRO.2022.3152705⟩ Journal articles lirmm-03624086v1
	Reproducing Human Arm Strategy and Its Contribution to Balance Recovery Through Model Predictive Control Keli Shen , Ahmed Chemori , Mitsuhiro Hayashibe Frontiers in Neurorobotics, 2021, 15, pp.#679570. ⟨10.3389/fnbot.2021.679570⟩ Journal articles lirmm-03227266v1
	Inverse-model intelligent control of fin-actuated underwater robots based on drag force propulsion Walid Remmas , Ahmed Chemori , Maarja Kruusmaa Ocean Engineering, 2021, 139, pp.#109883. ⟨10.1016/j.oceaneng.2021.109883⟩ Journal articles lirmm-03356874v1
	Diver tracking in open waters: A low‐cost approach based on visual and acoustic sensor fusion Mohamed Walid Remmas , Ahmed Chemori , Maarja Kruusmaa Journal of Field Robotics, 2021, 38 (3), pp.494-508. ⟨10.1002/rob.21999⟩ Journal articles lirmm-03009795v2
	Robust Adaptive Tracking Control of Underwater Vehicles: Design, Stability Analysis and Experiments Auwal Tijjani Shehu , Ahmed Chemori , Vincent Creuze IEEE/ASME Transactions on Mechatronics, 2021, 26 (2), pp.897-907. ⟨10.1109/TMECH.2020.3012502⟩ Journal articles lirmm-02918627v1
	Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments Afef Hfaiedh , Ahmed Chemori , Afef Abdelkrim Transactions of the Institute of Measurement and Control, 2021, 44 (2), pp.#014233122110313. ⟨10.1177/01423312211031396⟩ Journal articles lirmm-03312753v1
	A New Hybrid Kinematic/Dynamic Whole-Body Control for Humanoid Robots With Real-Time Experiments David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse International Journal of Humanoid Robotics, 2021, 18 (5), pp.#2150016. ⟨10.1142/S021984362150016X⟩ Journal articles lirmm-03470787v1
	Human-like Balance Recovery Based on Numerical Model Predictive Control Strategy Keli Shen , Ahmed Chemori , Mitsuhiro Hayashibe IEEE Access, 2020, 8, pp.92050-92060. ⟨10.1109/ACCESS.2020.2995104⟩ Journal articles lirmm-02610501v1
	A New Adaptive RISE Feedforward Approach based on Associative Memory Neural Networks for the Control of PKMs Jonatan Martín Escorcia-Hernández , Hipolito Aguilar-Sierra , Omar Aguilar-Mejía , Ahmed Chemori , José Humbérto Arroyo-Nuñez Journal of Intelligent and Robotic Systems, 2020, 200, pp.827-847. ⟨10.1007/s10846-020-01242-9⟩ Journal articles lirmm-02925920v1
	RISE-based adaptive control for EICoSI exoskeleton to assist knee joint mobility Kashif I.K. Sherwani , Neelesh Kumar , Ahmed Chemori , Munna Khan , Samer S. Mohammed Robotics and Autonomous Systems, 2020, 124, pp.#103354. ⟨10.1016/j.robot.2019.103354⟩ Journal articles lirmm-02356817v1
	Adaptive Disturbance Observer for Trajectory Tracking of Underwater Vehicles Jesus Guerrero , Jorge Antonio Torres Muñoz , Vincent Creuze , Ahmed Chemori Ocean Engineering, 2020, 200, pp.#107080. ⟨10.1016/j.oceaneng.2020.107080⟩ Journal articles lirmm-02484279v1
	A new solution for machining with RA-PKMs: Modelling, control and experiments Jonatan Martín Escorcia-Hernández , Ahmed Chemori , Hipolito Aguilar-Sierra , Arturo Jesús Monroy-Anieva Mechanism and Machine Theory, 2020, 150, pp.#103864. ⟨10.1016/j.mechmachtheory.2020.103864⟩ Journal articles lirmm-02514747v1
	Observation-Based Nonlinear Proportional–Derivative Control for Robust Trajectory Tracking for Autonomous Underwater Vehicles Jesus Guerrero , Jorge Torres , Vincent Creuze , Ahmed Chemori IEEE Journal of Oceanic Engineering, 2020, 45 (4), pp.1190-1202. ⟨10.1109/JOE.2019.2924561⟩ Journal articles lirmm-02281181v1
	Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot Taavi Salumäe , Ahmed Chemori , Maarja Kruusmaa IEEE Journal of Oceanic Engineering, 2019, 44 (1), pp.54-71. ⟨10.1109/JOE.2017.2774318⟩ Journal articles lirmm-01718243v1
	A New Time-Varying Feedback RISE Control for 2nd-Order Nonlinear MIMO Systems: Theory and Experiments Hussein Saied , Ahmed Chemori , Mohamed Bouri , Maher El Rafei , Clovis Francis International Journal of Control, 2019, ⟨10.1080/00207179.2019.1704063⟩ Journal articles lirmm-02406094v1
	Trajectory tracking for autonomous underwater vehicle: An adaptive approach Jesus Guerrero , Jorge Torres , Vincent Creuze , Ahmed Chemori Ocean Engineering, 2019, 172, pp.511-522. ⟨10.1016/j.oceaneng.2018.12.027⟩ Journal articles lirmm-01970636v1
	Saturation based nonlinear PID control for underwater vehicles: Design, stability analysis and experiments Jesus Guerrero , Jorge Torres , Vincent Creuze , Ahmed Chemori , Eduardo Campos Mercado Mechatronics, 2019, 61, pp.96-105. ⟨10.1016/j.mechatronics.2019.06.006⟩ Journal articles lirmm-02163345v1
	A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV Eduardo Campos Mercado , Jesus Monoroy , Hugo Abundis , Ahmed Chemori , Vincent Creuze International Journal of Naval Architecture and Ocean Engineering, 2019, 11 (1), pp.211-224. ⟨10.1016/j.ijnaoe.2018.04.002⟩ Journal articles lirmm-01783757v1
	Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments Nahla Khraief Haddad , Ahmed Chemori , Safya Belghith International Journal of Control, 2018, 91 (12), pp.2657-2672. ⟨10.1080/00207179.2017.1331378⟩ Journal articles lirmm-01719182v1
	Fractional order model reference adaptive control for SCARA robot trajectory tracking Yassine Bensafia , Samir Ladaci , Khatir Khettab , Ahmed Chemori International Journal of Industrial and Systems Engineering, 2018, 30 (2), pp.138-156. ⟨10.1504/IJISE.2018.094839⟩ Journal articles lirmm-01887395v1
	A new RISE-based adaptive control of PKMs: design, stability analysis and experiments Moussab Bennehar , Ahmed Chemori , Mohamed Bouri , Laurent Frédéric Jenni , François Pierrot International Journal of Control, 2018, 91 (3), pp.593-607. ⟨10.1080/00207179.2017.1286536⟩ Journal articles lirmm-01692463v1
	Virtual Submerged Floating Operational System for Robotic Manipulation Qin Zhang , Jialei Zhang , Ahmed Chemori , Xianbo Xiang Complexity, 2018, 2018, pp.1-18. ⟨10.1155/2018/9528313⟩ Journal articles lirmm-01920187v1
	Adaptive RBFNN finite-time control of normal forms for underactuated mechanical systems Jawhar Ghommam , Ahmed Chemori Nonlinear Dynamics, 2017, 90 (1), pp.301-315. ⟨10.1007/s11071-017-3662-3⟩ Journal articles lirmm-01692560v1
	Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments Eduardo Campos Mercado , Ahmed Chemori , Vincent Creuze , Jorge Antonio Torres Muñoz , Rogelio Lozano Mechatronics, 2017, 45, pp.49-59. ⟨10.1016/j.mechatronics.2017.05.004⟩ Journal articles lirmm-01567465v1
	Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC Hassène Gritli , Nahla Khraief , Ahmed Chemori , Safya Belghith Nonlinear Dynamics, 2017, 89 (3), pp.2195-2226. ⟨10.1007/s11071-017-3578-y⟩ Journal articles lirmm-01723917v1
	From Hopf-bifurcation to limit cycles control in underactuated mechanical systems Nahla Khraief Haddad , Safya Belghith , Hassène Gritli , Ahmed Chemori International journal of bifurcation and chaos in applied sciences and engineering , 2017, 27 (07), ⟨10.1142/S0218127417501048⟩ Journal articles lirmm-01723915v1
	Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulator Guilherme Sartori Natal , Ahmed Chemori , François Pierrot Robotica, 2016, 34 (01), pp.43-70. ⟨10.1017/S0263574714001246⟩ Journal articles lirmm-01342856v1
	A new revised desired compensation adaptive control for enhanced tracking: application to RA-PKMs Moussab Bennehar , Ahmed Chemori , François Pierrot Advanced Robotics, 2016, 30 (17-18), pp.1199-1214. ⟨10.1080/01691864.2016.1204248⟩ Journal articles hal-01346433v1
	Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle Divine Maalouf , Vincent Creuze , Ahmed Chemori , Olivier Tempier International Journal of Robotics and Automation, 2015, 30 (1), pp.4161-4196. ⟨10.2316/Journal.206.2015.1.206-4161⟩ Journal articles lirmm-01119880v1
	Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment Guilherme Sartori Natal , Ahmed Chemori , François Pierrot IEEE Transactions on Control Systems Technology, 2015, 23 (4), pp.1520-1535. ⟨10.1109/TCST.2014.2377951⟩ Journal articles lirmm-01342858v1
	ℒ1 Adaptive Depth and Pitch Control of an Underwater Vehicle with Real-Time Experiments Divine Maalouf , Ahmed Chemori , Vincent Creuze Ocean Engineering, 2015, 98, pp.66-77. ⟨10.1016/j.oceaneng.2015.02.002⟩ Journal articles lirmm-01181508v1
	Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and Experiments Moussab Bennehar , Ahmed Chemori , François Pierrot , Vincent Creuze Frontiers in Robotics and AI, 2015, 2, pp.32. ⟨10.3389/frobt.2015.00032⟩ Journal articles hal-01275320v1
	Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles Regular Paper Divine Maalouf , Vincent Creuze , Ahmed Chemori , Ivan Torres Tamanaja , Eduardo Campos Mercado International Journal of Advanced Robotic Systems, 2015, 12 (2), pp.1-15. ⟨10.5772/59185⟩ Journal articles lirmm-01119793v1
	Linear and nonlinear MPC for track following in the design of HDD servo systems Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel International Journal of Systems, Control and Communications, 2014, 6 (1), pp.20-47. ⟨10.1504/IJSCC.2014.06⟩ Journal articles lirmm-01718130v1
	Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation Sébastien Andary , Ahmed Chemori , Sébastien Krut Advanced Robotics, 2009, 23 (15), pp.1999-2014. ⟨10.1163/016918609X12529279062438⟩ Journal articles lirmm-00455577v1
	A prediction-based nonlinear controller for stabilization of a non-minimum phase PVTOL aircraft Ahmed Chemori , Nicolas Marchand International Journal of Robust and Nonlinear Control, 2008, Nonlinear Model Predictive Control of Fast Systems, 18 (8), pp.876-889. ⟨10.1002/rnc.1248⟩ Journal articles hal-00176071v1
	Global Stabilization with Low Computational Cost of the Discrete-Time Chain of Integrators by Means of Bounded Controls Nicolas Marchand , Ahmad Hably , Ahmed Chemori IEEE Transactions on Automatic Control, 2007, 52 (5), pp.948-952. ⟨10.1109/TAC.2007.895956⟩ Journal articles lirmm-00152310v1
	Minimum energy oriented global stabilizing control of the PVTOL aircraft Guylaine Poulin , Ahmed Chemori , Nicolas Marchand International Journal of Control, 2007, 80 (3), pp.430-442. ⟨10.1080/00207170601069505⟩ Journal articles hal-00022063v1
	Limit cycle generation for a class of non-linear systems with jumps using a low dimensional predictive control Ahmed Chemori , Mazen Alamir International Journal of Control, 2006, 78 (15), pp.1206-1217. ⟨10.1080/00207170500268331⟩ Journal articles lirmm-02502328v1
	Multi-step limit cycle generation for Rabbit's walking based on nonlinear low dimensional predictive control scheme Ahmed Chemori , Mazen Alamir Mechatronics, 2006, 16 (5), pp.259-277. ⟨10.1016/j.mechatronics.2005.12.001⟩ Journal articles hal-00083873v1
	Control of a Planar Underactuated Biped on a Complete Walking Cycle Ahmed Chemori , A. Loria IEEE Transactions on Automatic Control, 2004, 49 (5), pp.838-843. ⟨10.1109/TAC.2004.828314⟩ Journal articles lirmm-02360749v1

	Human based hybrid kinematic/dynamic whole-body control in humanoid robotics David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse HLR: Humanoid and Legged Robots, May 2014, Heidelberg, Germany. , French-German-Japanese Conference on Humanoid and Legged Robots, 2014 Conference poster lirmm-00993302v1
	Optimal Pattern Generator Based on a Three-Mass Linear Inverted Pendulum Model for Dynamic Walking David Galdeano , Ahmed Chemori , Sébastien Krut HLR: Humanoid and Legged Robots, Feb 2011, Paris, France. 2011 Conference poster lirmm-00982345v1

	Modelling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators Jonatan Martin Escorcia-Hernandez , Ahmed Chemori , Hipolito Aguilar-Sierra Elsevier, 200 p., inPress, 9780323961011. ⟨10.1016/C2021-0-01645-X⟩ Books lirmm-03779447v1

	$L1$ Adaptive Control of a Lower Limb Exoskeleton Dedicated to Kids’ Rehabilitation Boutheina Maalej , Ahmed Chemori , Nabil Derbel New Trends in Robot Control, 270, pp.107-129, 2020, 978-981-15-1818-8. ⟨10.1007/978-981-15-1819-5_6⟩ Book sections lirmm-02478654v1
	From Non-Model-Based to Adaptive Model-Based Tracking Control of Low-Inertia Underwater Vehicles Auwal Tijjani Shehu , Ahmed Chemori George M. Roman. Underwater Vehicles: Design and Applications, Chapter 2, , 2020, 978-1-53618-876-9 Book sections lirmm-03009836v1
	On Control Design for a Lower Limb Orthosis: A Comparative Study in Different Operating Conditions Nadjah Roula , Ahmed Chemori , Rany Rizk , Youssef Zaatar Mechanism, Machine, Robotics and Mechatronics Sciences, Mechanisms and Machine Science (58), pp.81-97, 2019, 978-3-319-89910-7. ⟨10.1007/978-3-319-89911-4_7⟩ Book sections lirmm-02011321v1
	A Redundant Parallel Robotic Machining Tool: Design, Control and Real-Time Experiments Hussein Saied , Ahmed Chemori , Micaël Michelin , Maher El Rafei , Clovis Francis Nabil Derbel; Jawhar Ghommam; Quanmin Zhu. New Developments and Advances in Robot Control, 175, pp.39-79, 2019, Studies in Systems, Decision and Control, 978-981-13-2211-2. ⟨10.1007/978-981-13-2212-9_3⟩ Book sections hal-02021956v1
	From Non-model-Based to Model-Based Control of PKMs: A Comparative Study Hussein Saied , Ahmed Chemori , Maher El Rafei , Clovis Francis , François Pierrot Mechanism, Machine, Robotics and Mechatronics Sciences, , pp.153-169, 2019, 978-3-319-89910-7. ⟨10.1007/978-3-319-89911-4_12⟩ Book sections lirmm-02411641v1
	RISE Feedback with NN Feedforward Control of a Servo-Positioning System for Track Following in HDD Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel Systems, Automation, and Control, De Gruyter, pp.219-240, 2018, ⟨10.1515/9783110470468-013⟩ Book sections lirmm-03990398v1
	Control of Redundantly Actuated PKMs for Closed-Shape Trajectories Tracking with Real-Time Experiments Moussab Bennehar , Ahmed Chemori , François Pierrot , Sébastien Krut Systems, Automation, and Control, 5, De Gruyter, pp.17-34, 2018, 9783110470468. ⟨10.1515/9783110470468-002⟩ Book sections lirmm-03990387v1
	Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system Jawhar Ghommam , Ahmed Chemori , Faiçal Mnif The Inverted Pendulum in Control Theory and Robotics: From Theory to New Innovations, Chapter 8, pp.165-187, 2017, 978-1-78561-320-3. ⟨10.1049/PBCE111E_ch8⟩ Book sections lirmm-01891593v1
	Model-Free Control of the Inertia Wheel Inverted Pendulum with real-time Experiments Ahmed Chemori The Inverted Pendulum in Control Theory and Robotics: From Theory to New Innovations, Chapter 5, pp.119-134, 2017, 978-1-78561-320-3. ⟨10.1049/PBCE111E_ch5⟩ Book sections lirmm-01891582v1
	Optimal Pattern Generator for Dynamic Walking in humanoid Robotics David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse Systems, Automation and Control, 1, De Gruyter, pp.115-139, 2016, 9783110448436. ⟨10.1515/9783110448436-008⟩ Book sections lirmm-03990367v1
	Adaptive Control of Parallel Manipulators: Design and Real-Time Experiments Moussab Bennehar , Ahmed Chemori , Sébastien Krut , François Pierrot Cecilia Norton. Parallel Manipulators: Design, Applications and Dynamic Analysis, Nova Science Pub Inc., pp.1-30, 2016, Chapter 1, 978-1634859264 Book sections lirmm-01892495v1
	Mechatronics of Hard Disk Drives: RISE Feedback Track Following Control of a R/W Head Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel Mechatronics: Principles, Technologies and Applications, Nova Science Publishers, Inc., 2015, 978-1-63482-854-3 Book sections lirmm-01893919v1
	Approches prédictives pour la stabilisation en temps discret de l'avion planaire à décollage vertical Nicolas Marchand , Ahmed Chemori , Guylaine Poulin Objets volants miniatures : modélisation et commande embarquée, Hermes Science Publications, Chapitre 5, 2007, Traité IC2, série systèmes automatisés, 9782746214668 Book sections hal-00180746v1

	Procédé de commande d'un automate à actionnement parallèle redondant, dispositif de commande associé et automate François Pierrot , Ahmed Chemori , Micaël Michelin France, N° de brevet: FR2978933 (B1). 2013 Patents lirmm-00861244v1

	Proof of an Algorithm to Compute Time-Optimal Third Order Polynomial S-curve Trajectories Marc Gouttefarde , Ghina Hassan , Ahmed Chemori [Research Report] LIRMM (UM, CNRS). 2021 Reports lirmm-03275300v1

	Quelques contributions à la commande non linéaire des robots marcheurs bipèdes sous-actionnés Ahmed Chemori Automatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2005. Français. ⟨NNT : ⟩ Theses tel-00168406v1

	Adaptive Feedforward Super-Twisting Sliding Mode Control of Parallel Kinematic Manipulators With Real-Time Experiments Hussein Saied , Ahmed Chemori , Mohamed Bouri , Maher El Rafei , Clovis Francis IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2024, Abu Dhabi, United Arab Emirates Conference papers lirmm-04661496v1
	A Novel Nonlinear Super-twisting L 1 Adaptive Control for PKMs: From Design to Real-time Experiments Youcef Mohamed Fitas , Ahmed Chemori , Johann Lamaury , Thierry Roux ECC 2024 - 22nd European Control Conference, Jun 2024, Stockholm, Sweden Conference papers lirmm-04577906v1
	AI-based Human Tracking for Remote Rehabilitation Progress Monitoring Ameur Latreche , Ridha Kelaiaia , Ahmed Chemori ICAECE 2023 - International Conference on Advances in Electrical and Computer Engineering, May 2023, Tebessa, Algeria Conference papers lirmm-04107931v1
	Classification of Human Balance Recovery Strategies Through Kinematic Motor Synergy Analysis Keli Shen , Ahmed Chemori , Mitsuhiro Hayashibe EMBC 2022 - 44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE, Jul 2022, Glasgow, United Kingdom. pp.1792-1796, ⟨10.1109/EMBC48229.2022.9870922⟩ Conference papers lirmm-03723008v1
	Ultra-Local Model-Based Intelligent Robust Control of PKMs: Theory and Simulations Ghina Hassan , Ahmed Chemori , Maher El Rafei , Marc Gouttefarde , Clovis Francis ALCOS 2022 - 14th IFAC International Workshop on Adaptive and Learning Control Systems, Jun 2022, Casablanca, Morocco. pp.634-640, ⟨10.1016/j.ifacol.2022.07.383⟩ Conference papers lirmm-03713956v1
	A New Augmented L1 Adaptive Control for Wheel-Legged Robots: Design and Experiments Fahad Raza , Ahmed Chemori , Mitsuhiro Hayashibe ACC 2022 - American Control Conference, Jun 2022, Atlanta, United States. pp.22-27, ⟨10.23919/ACC53348.2022.9867587⟩ Conference papers lirmm-03691125v1
	PHA-Based Feedback Control of a Biomimetic AUV for Diver Following: Design, Simulations and Real-Time Experiments Mart Ratas , Ahmed Chemori , Maarja Kruusmaa ECC 2022 - European Control Conference, Jul 2022, London, United Kingdom. pp.503-509, ⟨10.23919/ECC55457.2022.9838054⟩ Conference papers lirmm-03720185v1
	A New Time-Varying Adaptive Feedforward Sliding Mode Control of PKMs Youcef Mohamed Fitas , Ahmed Chemori , Johann Lamaury , François Pierrot ALCOS 2022 - 14th IFAC International Workshop on Adaptive and Learning Control Systems, Jun 2022, Casablanca, Morocco. pp.621-626, ⟨10.1016/j.ifacol.2022.07.381⟩ Conference papers lirmm-03713920v1
	A New Augmented RISE Feedback Controller for Pick-and-Throw Applications with PKMs Ghina Hassan , Ahmed Chemori , Marc Gouttefarde , Maher El Rafei , Clovis Francis SYROCO 2021/22 - 13th IFAC Symposium on Robot Control, Oct 2022, Matsumoto, Japan Conference papers lirmm-03818538v1
	Multivariable L 1 Adaptive Depth and Attitude Control of MEROS Underwater Robot With Real-Time Experiments Lotfi Chikh , Ahmed Chemori , Sifan Wang SYROCO 2021/22 - 13th IFAC Symposium on Robot Control, IFAC, Oct 2022, Matsumoto, Japan Conference papers lirmm-03818536v1
	A Novel Extended Desired Compensation Adaptive Law for High-Speed Pick-and-Throw with PKMs Ghina Hassan , Ahmed Chemori , Marc Gouttefarde , Maher El Rafei , Clovis Francis ALCOS 2022 - 14th IFAC International Workshop on Adaptive and Learning Control Systems, Jun 2022, Casablanca, Morocco. pp.627-633, ⟨10.1016/j.ifacol.2022.07.382⟩ Conference papers lirmm-03713933v1
	Implementation of SARL* Algorithm for A Differential Drive Robot in a Gazebo Crowded Simulation Environment Seif Eddine Seghiri , Noura Mansouri , Ahmed Chemori ICAEE 2022 - 2nd International Conference on Advanced Electrical Engineering, Oct 2022, Constantine, Algeria. pp.1-6, ⟨10.1109/ICAEE53772.2022.9962010⟩ Conference papers lirmm-03826760v1
	A Novel Model-Based Robust Super-Twisting Sliding Mode Control of PKMs: Design and Real-Time Experiments Hussein Saied , Ahmed Chemori , Maher El Rafei , Clovis Francis IROS 2021 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2021, Prague, Czech Republic. pp.8029-8035, ⟨10.1109/IROS51168.2021.9636168⟩ Conference papers lirmm-03343014v2
	A Novel LQR-Based Cascaded Control Scheme of a Powered Knee Joint Orthosis for Rehabilitation Ines Jammeli , Ahmed Chemori , Salwa Elloumi , Samer Mohammed ICSC 2021 - 9th International Conference on Systems and Control, Nov 2021, Caen, France. pp.361-366, ⟨10.1109/ICSC50472.2021.9666730⟩ Conference papers lirmm-03523073v1
	Stabilization of the Inertia Wheel Inverted Pendulum by Advanced IDA-PBC Based Controllers: Comparative Study and Real-Time Experiments Afef Hfaiedh , Ahmed Chemori , Afef Abdelkrim SSD 2020 - 17th International Multi-Conference on Systems, Signals & Devices, Jul 2020, Sfax, Tunisia. pp.753-760, ⟨10.1109/SSD49366.2020.9364159⟩ Conference papers lirmm-03131493v1
	Redundancy Resolution integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments João Cavalcanti Santos , Ahmed Chemori , Marc Gouttefarde ICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3889-3895, ⟨10.1109/ICRA40945.2020.9197271⟩ Conference papers lirmm-02747604v1
	Excessive Transverse Coordinates for Orbital Stabilization of (Underactuated) Mechanical Systems Christian Fredrik Saetre , Anton Shiriaev , Stepan Pchelkin , Ahmed Chemori ECC 2020 - European Control Conference, May 2020, Saint Petersburg, Russia Conference papers lirmm-02441659v1
	A Fuzzy Sliding Mode Controller for Reducing Torques Applied to a Rehabilitation Robot Boutheina Maalej , Ahmed Chemori , Hanene Medhaffar , Nabil Derbel SSD 2020 - 17th International Multi-Conference on Systems, Signals & Devices, Jul 2020, Sfax, Tunisia. pp.740-746, ⟨10.1109/SSD49366.2020.9364130⟩ Conference papers lirmm-03135772v1
	Disturbance Observer-Based Super-Twisting Control for the Inertia Wheel Inverted Pendulum Afef Hfaiedh , Ahmed Chemori , Afef Abdelkrim SSD 2020 - 17th International Multi-Conference on Systems, Signals & Devices, Jul 2020, Sfax, Tunisia. pp.747-752, ⟨10.1109/SSD49366.2020.9364233⟩ Conference papers lirmm-03131481v1
	Effectiveness Evaluation of Arm Usage for Human Quiet Standing Balance Recovery through Nonlinear Model Predictive Control Keli Shen , Ahmed Chemori , Mitsuhiro Hayashibe ICCR 2020 - 3rd International Conference on Control and Robots, Dec 2020, Tokyo, Japan. pp.150-153, ⟨10.1109/ICCR51572.2020.9344184⟩ Conference papers lirmm-03131502v1
	RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time Experiments Ghina Hassan , Ahmed Chemori , Lotfi Chikh , Pierre-Elie Hervé , Maher El Rafei IFAC-V 2020 - 1st Virtual IFAC World Congress, Jul 2020, Berlin, Germany. pp.8519-8524, ⟨10.1016/j.ifacol.2020.12.1420⟩ Conference papers lirmm-02899141v1
	A New Time-Varying Feedback RISE Control of PKMs: Theory and Application Hussein Saied , Ahmed Chemori , Mohamed Bouri , Maher El Rafei , Clovis Francis IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, China. pp.6775-6780, ⟨10.1109/IROS40897.2019.8968228⟩ Conference papers lirmm-02361068v1
	An Intelligent Compensation Through B-Spline Neural Network for a Delta Parallel Robot Jonatan Martín Escorcia-Hernández , Hipolito Aguilar-Sierra , Omar Aguilar-Mejía , Ahmed Chemori , José Humbérto Arroyo-Núñez CoDIT 2019 - 6th International Conference on Control, Decision and Information Technologies, Apr 2019, Paris, France. pp.361-366, ⟨10.1109/CoDIT.2019.8820472⟩ Conference papers lirmm-02118344v1
	A New Fast NMPC Scheme for Parallel Kinematic Manipulators: Design and Real-Time Experiments Rihab Kouki , Ahmed Chemori , Faouzi Bouani SCC 2019 - 1st IEEE International Conference on Signal, Control and Communication, Dec 2019, Hammamet, Tunisia. pp.69-75, ⟨10.1109/SCC47175.2019.9116179⟩ Conference papers lirmm-02426278v1
	Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots João Cavalcanti Santos , Ahmed Chemori , Marc Gouttefarde CableCon 2019 : 4th International Conference on Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.221-232, ⟨10.1007/978-3-030-20751-9_19⟩ Conference papers lirmm-02155794v1
	Networked cooperation-based distributed model predictive control using Laguerre functions for large-scale systems Kamel Menighed , Ahmed Chemori , Boumedyen Boussaid , Joseph Juien Yamé 4th International Conference on Electrical Engineering and Control Applications, ICEECA 2019, Dec 2019, Constantine, Algeria. ⟨10.1007/978-981-15-6403-1_9⟩ Conference papers hal-02420187v1
	Towards an Effective Robotic Device for Gait Rehabilitation of Children With Cerebral Palsy Boutheina Maalej , Ahmed Chemori , Nabil Derbel SCC 2019 - 1st IEEE International Conference on Signal, Control and Communication, Dec 2019, Hammamet, Tunisia. pp.268-273, ⟨10.1109/SCC47175.2019.9116141⟩ Conference papers lirmm-02426698v1
	Intelligent Tuning of Augmented $L_{1}$ Adaptive Control for Cerebral Palsy Kids Rehabilitation Boutheina Maalej , Ahmed Chemori , Nabil Derbel SSD 2019 - 16th IEEE International Multi-Conference on Systems, Signals and Devices, Mar 2019, Istanbul, Turkey. pp.231-237, ⟨10.1109/SSD.2019.8893237⟩ Conference papers lirmm-02115729v1
	Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm François Leborne , Vincent Creuze , Ahmed Chemori , Lorenzo Brignone ICRA 2018, IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.4955-4960, ⟨10.1109/ICRA.2018.8460963⟩ Conference papers lirmm-01822247v1
	Actuator and Friction Dynamics Formulation in Control of PKMs: From Design to Real-Time Experiments Hussein Saied , Ahmed Chemori , Maher El Rafei , Clovis Francis , François Pierrot IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5634-5639, ⟨10.1109/IROS.2018.8594329⟩ Conference papers lirmm-01887156v1
	RISE controller for class I of underactuated mechanical systems: Design and Real-Time Experiments Afef Hfaiedh , Ahmed Chemori , Afef Abdelkrim ICEE: International Conference on Electromechanical Engineering, Nov 2018, Skikda, Algeria Conference papers lirmm-02115142v1
	From Non-Model-Based to Model-Based Control of PKMs: A Comparative Study Hussein Saied , Ahmed Chemori , Maher El Rafei , Clovis Francis , François Pierrot ICAMMRMS: International Congress for the Advancement of Mechanism, Machine, Robotics and Mechatronics Sciences, Oct 2017, Beyrouth, Lebanon Conference papers hal-01631006v1
	A Novel Adaptive Terminal Sliding Mode Control for Parallel Manipulators: Design and Real-Time Experiments Moussab Bennehar , Gamal El-Ghazaly , Ahmed Chemori , François Pierrot ICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.6086-6092, ⟨10.1109/ICRA.2017.7989722⟩ Conference papers lirmm-01718202v1
	Control of Complex Robotic Systems: Challenges, Design and Experiments Ahmed Chemori MMAR: Methods and Models in Automation and Robotics, Aug 2017, Miedzyzdroje, Poland. pp.622-631, ⟨10.1109/MMAR.2017.8046900⟩ Conference papers lirmm-01718226v1
	Motion control architecture of a 4-fin U-CAT AUV using DOF prioritization Taavi Salumäe , Ahmed Chemori , Maarja Kruusmaa IROS: Intelligent RObots and Systems, Oct 2016, Daejeon, South Korea. pp.1321-1327, ⟨10.1109/IROS.2016.7759218⟩ Conference papers lirmm-01723924v1
	Augmented L1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments Hala Rifaï , Mohamed Sabri Ben Abdessalem , Ahmed Chemori , Samer Mohammed , Yacine Amirat ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.5708-5714, ⟨10.1109/ICRA.2016.7487794⟩ Conference papers lirmm-01723920v1
	Depth control of the biomimetic U-CAT turtle-like AUV with experiments in real operating conditions Ahmed Chemori , Keijo Kuusmik , Taavi Salumae , Maarja Kruusmaa ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.4750-4755, ⟨10.1109/ICRA.2016.7487677⟩ Conference papers lirmm-01343321v1
	Control of a Perturbed Under-Actuated Mechanical System Chadia Zayane-Aissa , Taous-Meriem Laleg-Kirati , Ahmed Chemori CCA: Conference on Control Applications, Sep 2015, Sydney, Australia. pp.249-299, ⟨10.1109/CCA.2015.7320644⟩ Conference papers lirmm-01343312v1
	L1 Adaptive Control of Parallel Kinematic Manipulators: Design and Real-Time Experiments Moussab Bennehar , Ahmed Chemori , François Pierrot ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1587-1592, ⟨10.1109/ICRA.2015.7139400⟩ Conference papers hal-01176534v1
	RISE Feedback Control for a R/W Head Track Following in Hard Disc Drives Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808811⟩ Conference papers lirmm-00947456v1
	Continuous Closed Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic Manipulators Moussab Bennehar , Ahmed Chemori , Sébastien Krut , François Pierrot SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808879⟩ Conference papers lirmm-00947459v1
	A Novel RISE-Based Adaptive Feedforward Controller for Redundantly Actuated Parallel Manipulators Moussab Bennehar , Ahmed Chemori , François Pierrot IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.2389-2394, ⟨10.1109/IROS.2014.6942886⟩ Conference papers hal-01070860v1
	External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments Nahla Khraief Haddad , Ahmed Chemori , Safya Belghith CCA: Conference on Control Applications, Oct 2014, Juan Les Antibes, France. pp.1747-1752, ⟨10.1109/CCA.2014.6981565⟩ Conference papers lirmm-01722715v1
	A prediction-based optimal gain selection in RISE feedback control for hard disk drive Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel CCA: Conference on Control Applications, Oct 2014, Juan Les Antibes, France. pp.2114-2119, ⟨10.1109/CCA.2014.6981615⟩ Conference papers lirmm-01723921v1
	A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time Experiments David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse Humanoids, Nov 2014, Madrid, Spain. pp.693-698, ⟨10.1109/HUMANOIDS.2014.7041438⟩ Conference papers lirmm-01089549v1
	Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808778⟩ Conference papers lirmm-00945690v1
	A New Extension of Desired Compensation Adaptive Control and its Real-Time Application to Redundantly Actuated PKMs Moussab Bennehar , Ahmed Chemori , François Pierrot IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.1670-1675, ⟨10.1109/IROS.2014.6942779⟩ Conference papers hal-01070862v1
	Control of Parallel Robots: Towards Very High Accelerations Ahmed Chemori , Guilherme Sartori Natal , François Pierrot SSD 2013 - 10th International Multi-Conference on Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia Conference papers lirmm-00809514v1
	Model Predictive Tracking Control for a Head-Positioning in a Hard-Disk-Drive Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel MED: Mediterranean Conference on Control and Automation, Jun 2013, Platanias-Chania, Crete, Greece. pp.1368-1373, ⟨10.1109/MED.2013.6608898⟩ Conference papers lirmm-00847646v1
	Optimal Pattern Generator For Dynamic Walking in humanoid Robotics David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse SSD: Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia. ⟨10.1109/SSD.2013.6564107⟩ Conference papers lirmm-00804250v1
	Track Following Control Using Nonlinear Model Predictive Control in Hard Disk Drives Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel IROS: Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. ⟨10.1109/IROS.2013.6696988⟩ Conference papers lirmm-00847648v1
	Predictive control for the stabilization of a fast mechatronic system : from simulation to real-time experiments Ahmed Chemori , Nahla Touati Symposium on Mechatronic Systems, Apr 2013, Hangzhou, China. pp.237-242, ⟨10.3182/20130410-3-CN-2034.00031⟩ Conference papers lirmm-00809710v1
	Dual-Space Adaptive Control of Redundantly Actuated Cable-Driven Parallel Robots Johann Lamaury , Marc Gouttefarde , Ahmed Chemori , Pierre-Elie Hervé IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.4879-4886, ⟨10.1109/IROS.2013.6697060⟩ Conference papers lirmm-01221399v1
	Stability Analysis of a New Extended L1 Controller with Experimental Validation on an Underwater Vehicle Divine Maalouf , Ahmed Chemori , Vincent Creuze CDC: Conference on Decision and Control, Dec 2013, Florence, Italy Conference papers lirmm-00847170v1
	From PD to Nonlinear Adaptive Depth-Control of a Tethered Autonomous Underwater Vehicle Divine Maalouf , Ivan Tamanaja , Eduardo Campos , Ahmed Chemori , Vincent Creuze IFAC Joint conference, SSSC: Symposium on System Structure and Control, Feb 2013, Grenoble, France Conference papers lirmm-00778061v1
	A new extension of the L1 adaptive controller to drastically reduce the tracking time lags Divine Maalouf , Ahmed Chemori , Vincent Creuze NOLCOS: Nonlinear Control Systems, Sep 2013, Toulouse, France. pp.001-006 Conference papers lirmm-00841558v1
	Pattern Generation and Control of Humanoid Robots: Towards Human-Like Walking Ahmed Chemori ICEECA: International Conference on Electrical Engineering and Control Applications, Nov 2012, Khenchela, Algeria. ⟨10.13140/RG.2.2.35942.52808⟩ Conference papers lirmm-00809634v1
	Dual-Space Adaptive Control of Redundantly Actuated Parallel Manipulators for Extremely Fast Operations With Load Changes Guilherme Sartori Natal , Ahmed Chemori , François Pierrot ICRA 2012 - International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. pp.253-258, ⟨10.1109/ICRA.2012.6224597⟩ Conference papers lirmm-00715913v1
	A novel application of multivariable ℒ1 adaptive control: From design to real-time implementation on an underwater vehicle Divine Maalouf , Vincent Creuze , Ahmed Chemori IROS: Intelligent Robots and Systems, Oct 2012, Vilamoura-Algrave, Portugal. pp.76-81, ⟨10.1109/IROS.2012.6385498⟩ Conference papers hal-00746494v1
	State Feedback Control of an Underwater Vehicle for Wall Following Divine Maalouf , Vincent Creuze , Ahmed Chemori MED'12: 20th Mediterranean Conference on Control and Automation, Jul 2012, Barcelona, Spain. pp.6 Conference papers lirmm-00714095v1
	A Dual Model-Free Control of Underactuated Mechanical Systems, Application to The Inertia Wheel Inverted Pendulum Sébastien Andary , Ahmed Chemori , Michel Benoit , Jean Sallantin ACC 2012 - American Control Conference, Jun 2012, Montréal, Canada. pp.1029-1034, ⟨10.1109/ACC.2012.6315492⟩ Conference papers lirmm-00723934v1
	Partial Human Data in Design of Human-Like Walking Control in Humanoid Robotics David Galdeano , Vincent Bonnet , Moussab Bennehar , Philippe Fraisse , Ahmed Chemori 10th IFAC Symposium on Robot Control, Syroco 2012, Sep 2012, Dubrovnik, Croatia. pp.485-490, ⟨10.3182/20120905-3-HR-2030.00187⟩ Conference papers hal-00717243v1
	A Dual-Space Feedforward PID Control of Redundantly Actuated Parallel Manipulators with Real-Time Experiments Guilherme Sartori Natal , Ahmed Chemori , Micaël Michelin , François Pierrot PID'12: IFAC Conference on Advances in PID Control, Mar 2012, Brescia, Italy. pp.6 Conference papers lirmm-00723937v1
	Control of Underactuated Mechanical Systems for Stabilization and Limit Cycle Generation Ahmed Chemori ICEECA: International Conference on Electrical Engineering and Control Applications, Nov 2012, Khenchela, Algeria Conference papers lirmm-00809625v1
	L1 Adaptative control for small underwater vehicles Divine Maalouf , Ahmed Chemori , Vincent Creuze ICOURS'12 : International Conference on Underwater Remote Sensing, Oct 2012, Brest, France Conference papers lirmm-00744717v1
	A Dual Model-Free Control of Non-Minimum Phase Systems for Generation of Stable Limit Cycles Sébastien Andary , Ahmed Chemori CDC-ECC'11: 50th IEEE Conference on Decision and Control and European Control Conference, Dec 2011, Orlando, Florida, United States. pp.1387-1392 Conference papers lirmm-00657453v1
	An experimental Comparison of State Observers for the Control of a Parallel Manipulator Without Velocity Measurements Guilherme Sartori Natal , Ahmed Chemori , François Pierrot , Olivier Company IROS: Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.2301-2306, ⟨10.1109/IROS.2010.5650400⟩ Conference papers lirmm-00545491v1
	Le pendule inversé stabilisé par volant d'inertie, un système non linéaire sous-actionné Ahmed Chemori , Sébastien Krut , Nahla Touati 3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. pp.10 Conference papers lirmm-00723940v1
	Adaptative Force Feedback Control for 3D Compensation of Physiological Motion in Beating Heart Surgery Zeineb Zarrouk , Ahmed Chemori , Philippe Poignet IROS: Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.1856-1861, ⟨10.1109/IROS.2010.5650684⟩ Conference papers lirmm-00545458v1
	Control of Parallel Manipulators for Very High Accelerations: The Mechanical Vibrations Issue Guilherme Sartori Natal , Ahmed Chemori , François Pierrot , Olivier Company PACAM: Pan-American Congress of Applied Mechanics, Jan 2010, Foz do Iguaçu, PR, Brazil Conference papers lirmm-00641588v1
	Nonlinear Model Predictive Running Control of Kangaroo Robot: a One-Leg Planar Underactuated Hopping Robot Nicolas Carlési , Ahmed Chemori IROS: Intelligent RObots and Systems, Oct 2010, Taipei, Taiwan. pp.3634-3639, ⟨10.1109/IROS.2010.5648972⟩ Conference papers lirmm-00544726v1
	Les Plateformes Robotiques : De la Théorie à la Pratique ... Ahmed Chemori 3èmes Journées Démonstrateurs en Automatique 2010, Nov 2010, Angers, France Conference papers lirmm-00809662v1
	A Control Architecture With Stabilizer For 3D Stable Dynamic Walking of SHERPA Biped Robot on Compliant Ground Ahmed Chemori , Sébastien Le Floch , Sébastien Krut , Etienne Dombre Humanoids, Dec 2010, Nashville, TN, United States. pp.480-485 Conference papers lirmm-00643523v1
	Sherpa, un robot marcheur bipède à actionnement réversible Sébastien Krut , Ahmed Chemori 3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. pp.9 Conference papers lirmm-00809721v1
	A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot Ahmed Chemori IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.3226-3231, ⟨10.1109/IROS.2009.5353965⟩ Conference papers lirmm-00429803v1
	Some control-related issues in mini-robotics for endoluminal surgery Philippe Poignet , Ahmed Chemori , Nabil Zemiti , Chao Liu EMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6850-6855 Conference papers lirmm-00431187v1
	Estimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed Sébastien Andary , Ahmed Chemori , Sébastien Krut IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.1302-1307, ⟨10.1109/IROS.2009.5354120⟩ Conference papers lirmm-00429808v1
	Nonlinear Dual Mode Adaptive Control of PAR2 : a 2-dof Planar Parallel Manipulator, with Real-time Experiments Guilherme Sartori Natal , Ahmed Chemori , François Pierrot , Olivier Company IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.2114-2119, ⟨10.1109/IROS.2009.5354083⟩ Conference papers lirmm-00429818v1
	Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum Sébastien Andary , Ahmed Chemori , Sébastien Krut IROS: Intelligent RObots and Systems, Sep 2008, Nice, France. pp.526-531, ⟨10.1109/IROS.2008.4650994⟩ Conference papers lirmm-00305317v1
	A Control Law for Energy Efficient and Human Like Walking Biped Robot SHERPA Based on a Control and a Ballistic Phase - Application on the Cart-Table Model Marc Bachelier , Sébastien Krut , Ahmed Chemori Humanoids, Dec 2008, Daejeon, South Korea Conference papers lirmm-00363728v1
	Global discrete-time stabilization of the PVTOL aircraft based on fast predictive control Ahmed Chemori , Nicolas Marchand IFAC WC 2008 - 17th IFAC World Congress, Jul 2008, Séoul, South Korea. pp.1747-1752, ⟨10.3182/20080706-5-KR-1001.00299⟩ Conference papers hal-00200558v1
	A prediction based controller for stabilization of a non-minimum phase PVTOL aircraft Ahmed Chemori , Nicolas Marchand 2006 Conference papers hal-00083401v1
	A prediction based controller for trajectories tracking and stabilization of a non-minimum phase PVTOL aircraft Ahmed Chemori , Nicolas Marchand NMPCFS: Nonlinear Model Predictive Control for Fast Systems, Oct 2006, Grenoble, France Conference papers hal-00108453v1

Ahmed Chemori

Presentation

Research domains

Publications

A novel intelligent RISE feedback control of autonomous tethered underwater vehicles: Design & real-time experiments

STA-based design of an adaptive disturbance observer for autonomous underwater vehicles: From concept to real-time validation

Improved Adaptive High-Order Sliding Mode-Based Control for Trajectory Tracking of Autonomous Underwater Vehicles

A New Adaptive Robust Sliding Mode Control for High-Precision PKMs: Design, Stability Analysis, and Experiments

Saturated STA-based sliding-mode tracking control of AUVs: Design, stability analysis, and experiments

Saturation-Based Adaptive Tracking Control of Underwater Vehicles: From Theoretical Design to Real-Time Experiments

Socializing A* Algorithm for Crowd- and Socially Aware Navigation

A new resampling algorithm for particle filters and its application in global localization within symmetric environments

A novel low-cost ZMP estimation method for humanoid gait using inertial measurement devices: Concept and experiments

Self-organizing neural network for reproducing human postural mode alternation through deep reinforcement learning

Structural reliability based energy-efficient arctic position mooring control of moored offshore structures under ice loads

Fault-tolerant control allocation for a bio-inspired underactuated AUV in the presence of actuator failures: Design and experiments

Optimal dimensional design of parallel manipulators with an illustrative case study: A review

Time-delay high-order sliding mode control for trajectory tracking of autonomous underwater vehicles under disturbances

Adaptive RISE Feedback Control for Robotized Machining With PKMs: Design and Real-Time Experiments

Continuous–Discrete Observation-Based Robust Tracking Control of Underwater Vehicles: Design, Stability Analysis, and Experiments

FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs

Reliability and validity analysis of MediaPipe-based measurement system for some human rehabilitation motions

A New Home-Based Upper- and Lower-Limb Telerehabilitation Platform with Experimental Validation

A new fast nonlinear model predictive control of parallel manipulators: Design and experiments

Kinematic sensitivity analysis of manipulators using a novel dimensionless index

An Assistive Explicit Model Predictive Control Framework for a Knee Rehabilitation Exoskeleton

On Robust Mechanical Design of PAR2 Delta-Like Parallel Kinematic Manipulator

Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots

A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots

Reproducing Human Arm Strategy and Its Contribution to Balance Recovery Through Model Predictive Control

Inverse-model intelligent control of fin-actuated underwater robots based on drag force propulsion

Diver tracking in open waters: A low‐cost approach based on visual and acoustic sensor fusion

Robust Adaptive Tracking Control of Underwater Vehicles: Design, Stability Analysis and Experiments

Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

A New Hybrid Kinematic/Dynamic Whole-Body Control for Humanoid Robots With Real-Time Experiments

Human-like Balance Recovery Based on Numerical Model Predictive Control Strategy

A New Adaptive RISE Feedforward Approach based on Associative Memory Neural Networks for the Control of PKMs

RISE-based adaptive control for EICoSI exoskeleton to assist knee joint mobility

Adaptive Disturbance Observer for Trajectory Tracking of Underwater Vehicles

A new solution for machining with RA-PKMs: Modelling, control and experiments

Observation-Based Nonlinear Proportional–Derivative Control for Robust Trajectory Tracking for Autonomous Underwater Vehicles

Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot

A New Time-Varying Feedback RISE Control for 2nd-Order Nonlinear MIMO Systems: Theory and Experiments

Trajectory tracking for autonomous underwater vehicle: An adaptive approach

Saturation based nonlinear PID control for underwater vehicles: Design, stability analysis and experiments

A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV

Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments

Fractional order model reference adaptive control for SCARA robot trajectory tracking

A new RISE-based adaptive control of PKMs: design, stability analysis and experiments

Virtual Submerged Floating Operational System for Robotic Manipulation

Adaptive RBFNN finite-time control of normal forms for underactuated mechanical systems

Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments

Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC

From Hopf-bifurcation to limit cycles control in underactuated mechanical systems

Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulator

A new revised desired compensation adaptive control for enhanced tracking: application to RA-PKMs

Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle

Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment

ℒ1 Adaptive Depth and Pitch Control of an Underwater Vehicle with Real-Time Experiments

Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and Experiments

Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles Regular Paper

Linear and nonlinear MPC for track following in the design of HDD servo systems

Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation

A prediction-based nonlinear controller for stabilization of a non-minimum phase PVTOL aircraft

Global Stabilization with Low Computational Cost of the Discrete-Time Chain of Integrators by Means of Bounded Controls

Minimum energy oriented global stabilizing control of the PVTOL aircraft

Limit cycle generation for a class of non-linear systems with jumps using a low dimensional predictive control

Multi-step limit cycle generation for Rabbit's walking based on nonlinear low dimensional predictive control scheme

Control of a Planar Underactuated Biped on a Complete Walking Cycle

Human based hybrid kinematic/dynamic whole-body control in humanoid robotics

Optimal Pattern Generator Based on a Three-Mass Linear Inverted Pendulum Model for Dynamic Walking

Modelling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators

$L1$ Adaptive Control of a Lower Limb Exoskeleton Dedicated to Kids’ Rehabilitation

From Non-Model-Based to Adaptive Model-Based Tracking Control of Low-Inertia Underwater Vehicles

On Control Design for a Lower Limb Orthosis: A Comparative Study in Different Operating Conditions

A Redundant Parallel Robotic Machining Tool: Design, Control and Real-Time Experiments

From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

RISE Feedback with NN Feedforward Control of a Servo-Positioning System for Track Following in HDD

Control of Redundantly Actuated PKMs for Closed-Shape Trajectories Tracking with Real-Time Experiments