Ahmed Chemori

185
Documents
Affiliation actuelle
  • Robotique médicale et mécanismes parallèles (LIRMM | DEXTER)
Contact

Présentation

Ahmed Chemori received his M.Sc. and Ph.D. degrees in Automatic Control from the Polytechnic Institute of Grenoble, France, in 2001 and 2005, respectively. During 2004–2005, he served as a Research and Teaching Assistant at the Laboratoire de Signaux et Systèmes (LSS, CentraleSupélec) and Université Paris-Sud (Paris 11). He then joined Gipsa-Lab (formerly LAG) as a CNRS postdoctoral researcher. He is currently a Senior CNRS Researcher in Automatic Control and Robotics at the French National Centre for Scientific Research (CNRS), affiliated with the Montpellier Laboratory of Computer Science, Robotics, and Microelectronics (LIRMM). His research interests include nonlinear control (adaptive, robust, and predictive) and its real-time applications in various areas of robotics, including parallel robotics, marine robotics, and wearable robotics. He is the author or co-author of more than 195 scientific publications, including journal articles, patents, books, book chapters, and conference proceedings. He has co-supervised 26 Ph.D. theses (including 21 successfully defended) and more than 40 M.Sc. theses. He is the Head of the Marine Robotics Team, and the Chair of the LIRMM Valorization Committee. He serves as Technical Editor for IEEE/ASME Transactions on Mechatronics and as Guest Editor for several special issues. He is an IEEE Senior Member and an IFAC member of Technical Committees TC1.2 (Adaptive and Learning Systems), TC4.2 (Mechatronic Systems), TC4.3 (Robotics), and TC7.2 (Marine Systems). He has also served as a TPC/IPC member and Associate Editor for several international conferences, including IEEE IROS, IEEE RO-MAN, IFAC ALCOS, IFAC CAMS, and the IFAC World Congress, among others, and has organized multiple scientific events.


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Publications

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A New Extended High-Gain Observer for Robotic Manipulators Robust to Variations in Measurements Sampling

Sofiane Ahmed Ali , Ahmed Chemori , Yanick Roudil

Arabian Journal for Science and Engineering, In press, ⟨10.1007/s13369-025-10996-z⟩

Article dans une revue lirmm-05429367v1
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Efficient Control Allocation and 3D Trajectory Tracking of a Highly Manoeuvrable Underactuated Bio-inspired AUV

Mohamed Walid Remmas , Christian Meurer , Yuya Hamamatsu , Ahmed Chemori , Maarja Kruusmaa

Control Engineering Practice, 2026, 167, pp.106646. ⟨10.1016/j.conengprac.2025.106646⟩

Article dans une revue lirmm-05362460v1
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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, 2026, 56 (1), pp.402-414. ⟨10.1109/TSMC.2024.3412797⟩

Article dans une revue lirmm-04636680v1
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Finite-time Adaptive FeedForward Fractional-order RISE α Control of an Actuated Ankle-Foot Orthosis

Oussama Bey , Hala Rifai , Ahmed Chemori , Yacine Amirat , Samer Mohammed

IEEE Transactions on Automation Science and Engineering, In press, pp.1-1. ⟨10.1109/TASE.2026.3668272⟩

Article dans une revue lirmm-05557004v1
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A new fractional‐order L1 adaptive feedback control of dynamical systems: Design, stability analysis, and application

Boutheina Maalej , Ahmed Chemori , Rim Jallouli-Khlif , Nabil Derbel

Asian Journal of Control, 2025, ⟨10.1002/asjc.3816⟩

Article dans une revue lirmm-05226952v1
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Robust super-twisting-based disturbance observer for autonomous underwater vehicles: Design, stability analysis, and real-time experiments

Jesus Guerrero , Ahmed Chemori , Vincent Creuze , Jorge Torres

Robotics and Autonomous Systems, 2025, 184, pp.104859. ⟨10.1016/j.robot.2024.104859⟩

Article dans une revue lirmm-04782129v1
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Walking in Mud: Modeling, Control, and Experiments of Quadruped Locomotion

Simon Godon , Carlos Prados , Ahmed Chemori , Asko Ristolainen , Maarja Kruusmaa

IEEE/ASME Transactions on Mechatronics, 2025, pp.1-12. ⟨10.1109/TMECH.2025.3560588⟩

Article dans une revue lirmm-05103366v1
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Socializing A* Algorithm for Crowd- and Socially Aware Navigation

Seif Eddine Seghiri , Noura Mansouri , Ahmed Chemori

Arabian Journal for Science and Engineering, 2025, 50, pp.7193-7205. ⟨10.1007/s13369-024-09334-6⟩

Article dans une revue lirmm-04663497v1
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Design and experiments of an adaptive disturbance observer for tracking control of autonomous underwater vehicles

Jesus Guerrero , Ahmed Chemori , Vincent Creuze , Jorge Torres

Ocean Engineering, 2025, 322, pp.120511. ⟨10.1016/j.oceaneng.2025.120511⟩

Article dans une revue lirmm-04925929v1
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Advanced robust desired compensation adaptive control for parallel robots: From concept to real-time validation

Youcef Fitas , Ahmed Chemori , Johann Lamaury , Thierry Roux

Control Engineering Practice, 2025, 162, pp.106364. ⟨10.1016/j.conengprac.2025.106364⟩

Article dans une revue lirmm-05053778v1
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A revisited adaptive super-twisting control of underactuated mechanical systems: Design and experiments

Afef Hfaiedh , Ahmed Chemori , Afef Abdelkrim

Transactions of the Institute of Measurement and Control, 2025, 47 (16), pp.3225-3241. ⟨10.1177/01423312241274060⟩

Article dans une revue lirmm-04764372v1
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Data-driven fuzzy logic control method for improved USV path planning

Feng Wang , Chenglong Wang , Yuanhui Wang , Ahmed Chemori , Xiaoyue Zhang et al.

Journal of Supercomputing, 2025, 81 (7), pp.844. ⟨10.1007/s11227-025-07318-3⟩

Article dans une revue lirmm-05061978v1
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A novel adaptive approach to underwater ROV control: design and real-time experiments

Seif Eddine Seghiri , Ahmed Chemori , Noura Mansouri , Vincent Creuze

Journal of Marine Science and Technology, 2025, 30, pp.311-328. ⟨10.1007/s00773-025-01054-2⟩

Article dans une revue lirmm-04982014v1
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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, 2025, 47 (14), pp.2869-2882. ⟨10.1177/01423312241267042⟩

Article dans une revue lirmm-04675915v1
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STA-based design of an adaptive disturbance observer for autonomous underwater vehicles: From concept to real-time validation

Jesus Guerrero , Ahmed Chemori , Jorge Torres , Vincent Creuze

Control Engineering Practice, 2024, 144, pp.105831. ⟨10.1016/j.conengprac.2023.105831⟩

Article dans une revue lirmm-04364453v1
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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, 2024, 49 (4), pp.1337-1349. ⟨10.1109/JOE.2024.3381391⟩

Article dans une revue lirmm-04605914v1
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A novel feedforward extended model reference adaptive control of PKMs: Design and real-time experiments

Youcef Mohamed Fitas , Ahmed Chemori , Johann Lamaury , Thierry Roux

Mechatronics, 2024, 104, pp.103261. ⟨10.1016/j.mechatronics.2024.103261⟩

Article dans une revue lirmm-04744774v1
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Saturated STA-based sliding-mode tracking control of AUVs: Design, stability analysis, and experiments

Jesus Guerrero , Ahmed Chemori , Vincent Creuze , Jorge Torres , Eduardo Campos

Ocean Engineering, 2024, 301, pp.117560. ⟨10.1016/j.oceaneng.2024.117560⟩

Article dans une revue lirmm-04516120v1
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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⟩

Article dans une revue lirmm-04507735v1
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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⟩

Article dans une revue lirmm-04713844v1
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Optimal dimensional design of parallel manipulators with an illustrative case study: A review

Ridha Kelaiaia , Ahmed Chemori , Allaoua Brahmia , Adlen Kerboua , Abdelouahab Zaatri et al.

Mechanism and Machine Theory, 2023, 188, pp.105390. ⟨10.1016/j.mechmachtheory.2023.105390⟩

Article dans une revue lirmm-04099672v1
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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⟩

Article dans une revue lirmm-04165240v1
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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⟩

Article dans une revue lirmm-04055464v1
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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⟩

Article dans une revue lirmm-03909151v1
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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⟩

Article dans une revue lirmm-04116304v1
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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⟩

Article dans une revue lirmm-03978124v1
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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⟩

Article dans une revue lirmm-04065695v1
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Continuous–Discrete Observation-Based Robust Tracking Control of Underwater Vehicles: Design, Stability Analysis, and Experiments

Auwal Tijjani Shehu , Ahmed Chemori , Sofiane Ahmed-Ali , Vincent Creuze

IEEE Transactions on Control Systems Technology, 2023, 31 (4), pp.1477--1492. ⟨10.1109/TCST.2022.3224321⟩

Article dans une revue lirmm-03883697v1
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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⟩

Article dans une revue lirmm-03902652v1
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Adaptive RISE Feedback Control for Robotized Machining With PKMs: Design and Real-Time Experiments

Jonatan Martín Escorcia-Hernández , Ahmed Chemori , Hipolito Aguilar-Sierra

IEEE Transactions on Control Systems Technology, 2023, 31 (1), pp.39-54. ⟨10.1109/TCST.2022.3169015⟩

Article dans une revue lirmm-03664459v1
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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⟩

Article dans une revue lirmm-04046617v1
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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⟩

Article dans une revue lirmm-03834682v1
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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⟩

Article dans une revue lirmm-03776018v1
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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⟩

Article dans une revue lirmm-03246589v1
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Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots

Ghina Hassan , Marc Gouttefarde , Ahmed Chemori , Pierre-Elie Hervé , Maher El Rafei et al.

IEEE/ASME Transactions on Mechatronics, 2022, 27 (6), pp.4707-4717. ⟨10.1109/TMECH.2022.3164247⟩

Article dans une revue lirmm-03650958v1
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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⟩

Article dans une revue lirmm-03624086v1
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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⟩

Article dans une revue lirmm-03495187v1
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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⟩

Article dans une revue lirmm-03523086v1
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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⟩

Article dans une revue lirmm-03227266v1
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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⟩

Article dans une revue lirmm-03356874v1
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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⟩

Article dans une revue lirmm-03009795v2
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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⟩

Article dans une revue lirmm-02918627v1
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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⟩

Article dans une revue lirmm-03470787v1
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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⟩

Article dans une revue lirmm-03312753v1
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A new solution for machining with RA-PKMs: Modelling, control and experiments

Jonatan Martín Escorcia-Hernández , Ahmed Chemori , Hipólito Aguilar-Sierra , Jesús Arturo Monroy-Anieva

Mechanism and Machine Theory, 2020, 150, pp.#103864. ⟨10.1016/j.mechmachtheory.2020.103864⟩

Article dans une revue lirmm-02514747v1
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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⟩

Article dans une revue lirmm-02281181v1
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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⟩

Article dans une revue lirmm-02484279v1
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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⟩

Article dans une revue lirmm-02925920v1
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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⟩

Article dans une revue lirmm-02356817v1
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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⟩

Article dans une revue lirmm-02610501v1
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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⟩

Article dans une revue lirmm-01970636v1
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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 et al.

International Journal of Control, 2019, ⟨10.1080/00207179.2019.1704063⟩

Article dans une revue lirmm-02406094v1
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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⟩

Article dans une revue lirmm-01718243v1
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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⟩

Article dans une revue lirmm-02163345v1
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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 et al.

International Journal of Naval Architecture and Ocean Engineering, 2019, 11 (1), pp.211-224. ⟨10.1016/j.ijnaoe.2018.04.002⟩

Article dans une revue lirmm-01783757v1
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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⟩

Article dans une revue lirmm-01887395v1
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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⟩

Article dans une revue lirmm-01692463v1
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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⟩

Article dans une revue lirmm-01719182v1
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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⟩

Article dans une revue lirmm-01920187v1
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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⟩

Article dans une revue lirmm-01692560v1
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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⟩

Article dans une revue lirmm-01567465v1
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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⟩

Article dans une revue lirmm-01723915v1
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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⟩

Article dans une revue lirmm-01723917v1
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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⟩

Article dans une revue lirmm-01342856v1
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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⟩

Article dans une revue hal-01346433v1
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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⟩

Article dans une revue hal-01275320v1
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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⟩

Article dans une revue lirmm-01342858v1
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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⟩

Article dans une revue lirmm-01119880v1
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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⟩

Article dans une revue lirmm-01181508v1
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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 et al.

International Journal of Advanced Robotic Systems, 2015, 12 (2), pp.1-15. ⟨10.5772/59185⟩

Article dans une revue lirmm-01119793v1
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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⟩

Article dans une revue lirmm-01718130v1
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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⟩

Article dans une revue lirmm-00455577v1
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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⟩

Article dans une revue istex hal-00176071v1

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⟩

Article dans une revue hal-00022063v1
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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⟩

Article dans une revue lirmm-00152310v1
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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⟩

Article dans une revue lirmm-02502328v1
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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⟩

Article dans une revue hal-00083873v1
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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⟩

Article dans une revue lirmm-02360749v1
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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

Poster de conférence lirmm-00993302v1
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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

Poster de conférence lirmm-00982345v1
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$L1$ 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⟩

Chapitre d'ouvrage lirmm-02478654v1
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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, Nova Science Pub Inc, pp.1-32, 2020, 978-1-53618-876-9

Chapitre d'ouvrage lirmm-03009836v1
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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⟩

Chapitre d'ouvrage lirmm-02011321v1
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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⟩

Chapitre d'ouvrage lirmm-02411641v1
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A Redundant Parallel Robotic Machining Tool: Design, Control and Real-Time Experiments

Hussein Saied , Ahmed Chemori , Micaël Michelin , Maher El Rafei , Clovis Francis et al.

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⟩

Chapitre d'ouvrage hal-02021956v1
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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⟩

Chapitre d'ouvrage lirmm-03990387v1
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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⟩

Chapitre d'ouvrage lirmm-03990398v1
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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⟩

Chapitre d'ouvrage lirmm-01891582v1
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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⟩

Chapitre d'ouvrage lirmm-01891593v1
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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

Chapitre d'ouvrage lirmm-01892495v1
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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⟩

Chapitre d'ouvrage lirmm-03990367v1
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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

Chapitre d'ouvrage lirmm-01893919v1
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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

Chapitre d'ouvrage hal-00180746v1
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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 : ⟩

Thèse tel-00168406v1
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Robust Adaptive STA-Based Tracking Control of AUVs with Real-Time Experiments

Emmanuel Isai Gamero Ramirez , Ahmed Chemori , Jorge Torres , Jesus Guerrero , Vincent Creuze

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, Jul 2025, Paris, France

Communication dans un congrès lirmm-05087904v1
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Adaptive STA Altitude Control of Hybrid Aerial-Underwater Vehicles

Emmanuel Isai Gamero Ramirez , Jorge Torres , Ahmed Chemori , Jesus Guerrero , Vincent Creuze

ALCOS 2025 - 15th IFAC Workshop on Adaptative and Learning Control Systems, IFAC, Jul 2025, Mexico city, Mexico

Communication dans un congrès lirmm-05087357v1
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Multi-objective Optimal Trajectory Generation for a Kite-based Ship Traction System

Kenza Khedache , Jérémy Loustau-Laguide , Ahmed Chemori , Loïc Daridon , Kostia Roncin

WESC 2025 - Wind Energy Science Conference, ECN, Jun 2025, Nantes, France

Communication dans un congrès hal-05423569v1
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A Novel Nonlinear Super-Twisting $\mathscr{L}_1$ 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. pp.1802-1809, ⟨10.23919/ECC64448.2024.10591145⟩

Communication dans un congrès lirmm-04577906v1
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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. pp.12000-12007, ⟨10.1109/IROS58592.2024.10802641⟩

Communication dans un congrès lirmm-04661496v1
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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

Communication dans un congrès lirmm-04107931v1
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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

Communication dans un congrès lirmm-03818536v1
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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 et al.

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⟩

Communication dans un congrès lirmm-03713933v1
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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⟩

Communication dans un congrès lirmm-03691125v1
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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⟩

Communication dans un congrès lirmm-03826760v1
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Ultra-Local Model-Based Intelligent Robust Control of PKMs: Theory and Simulations

Ghina Hassan , Ahmed Chemori , Maher El Rafei , Marc Gouttefarde , Clovis Francis et al.

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⟩

Communication dans un congrès lirmm-03713956v1
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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⟩

Communication dans un congrès lirmm-03723008v1
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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⟩

Communication dans un congrès lirmm-03713920v1
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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 - 20th European Control Conference, Jul 2022, London, United Kingdom. pp.503-509, ⟨10.23919/ECC55457.2022.9838054⟩

Communication dans un congrès lirmm-03720185v1
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A New Augmented RISE Feedback Controller for Pick-and-Throw Applications with PKMs

Ghina Hassan , Ahmed Chemori , Marc Gouttefarde , Maher El Rafei , Clovis Francis et al.

SYROCO 2021/22 - 13th IFAC Symposium on Robot Control, Oct 2022, Matsumoto, Japan

Communication dans un congrès lirmm-03818538v1
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Networked cooperation-based distributed model predictive control using Laguerre functions for large-scale systems

Kamel Menighed , Ahmed Chemori , Boumedyen Boussaid , Joseph Juien Yamé

ICEECA 2019 - 4th International Conference on Electrical Engineering and Control Applications, Dec 2019, Constantine, Algeria. pp.123-138, ⟨10.1007/978-981-15-6403-1_9⟩

Communication dans un congrès hal-02420187v1
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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⟩

Communication dans un congrès lirmm-03523073v1
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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⟩

Communication dans un congrès lirmm-03343014v2
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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⟩

Communication dans un congrès lirmm-03135772v1
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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⟩

Communication dans un congrès lirmm-02747604v1
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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⟩

Communication dans un congrès lirmm-03131493v1
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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⟩

Communication dans un congrès lirmm-03131481v1
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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⟩

Communication dans un congrès lirmm-03131502v1
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Excessive Transverse Coordinates for Orbital Stabilization of (Underactuated) Mechanical Systems

Christian Fredrik Saetre , Anton Shiriaev , Stepan Pchelkin , Ahmed Chemori

ECC 2020 - 18th European Control Conference, May 2020, Saint Petersburg, Russia. pp.895-900, ⟨10.23919/ECC51009.2020.9143866⟩

Communication dans un congrès lirmm-02441659v1
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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 et al.

IFAC-V 2020 - 1st Virtual IFAC World Congress, Jul 2020, Berlin, Germany. pp.8519-8524, ⟨10.1016/j.ifacol.2020.12.1420⟩

Communication dans un congrès lirmm-02899141v1
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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⟩

Communication dans un congrès lirmm-02426698v1
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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⟩

Communication dans un congrès lirmm-02115729v1
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A New Time-Varying Feedback RISE Control of PKMs: Theory and Application

Hussein Saied , Ahmed Chemori , Mohamed Bouri , Maher El Rafei , Clovis Francis et al.

IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, China. pp.6775-6780, ⟨10.1109/IROS40897.2019.8968228⟩

Communication dans un congrès lirmm-02361068v1
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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⟩

Communication dans un congrès lirmm-02426278v1
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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⟩

Communication dans un congrès lirmm-02155794v1
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An Intelligent Compensation Through B-Spline Neural Network for a Delta Parallel Robot

Jonatan Martín Escorcia-Hernández , Hipólito 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⟩

Communication dans un congrès lirmm-02118344v1
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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⟩

Communication dans un congrès lirmm-01887156v1
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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

Communication dans un congrès lirmm-02115142v1
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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⟩

Communication dans un congrès lirmm-01822247v1
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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⟩

Communication dans un congrès lirmm-01718202v1
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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

Communication dans un congrès hal-01631006v1
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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⟩

Communication dans un congrès lirmm-01718226v1
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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⟩

Communication dans un congrès lirmm-01723920v1
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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⟩

Communication dans un congrès lirmm-01723924v1
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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⟩

Communication dans un congrès lirmm-01343321v1
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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⟩

Communication dans un congrès hal-01176534v1
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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⟩

Communication dans un congrès lirmm-01343312v1
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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⟩

Communication dans un congrès lirmm-00945690v1
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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⟩

Communication dans un congrès lirmm-01089549v1
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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⟩

Communication dans un congrès hal-01070860v1
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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⟩

Communication dans un congrès lirmm-01722715v1
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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⟩

Communication dans un congrès lirmm-00947459v1
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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⟩

Communication dans un congrès lirmm-00947456v1
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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⟩

Communication dans un congrès lirmm-01723921v1
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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⟩

Communication dans un congrès hal-01070862v1
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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⟩

Communication dans un congrès lirmm-01221399v1
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From PD to Nonlinear Adaptive Depth-Control of a Tethered Autonomous Underwater Vehicle

Divine Maalouf , Ivan Tamanaja , Eduardo Campos , Ahmed Chemori , Vincent Creuze et al.

IFAC Joint conference, SSSC: Symposium on System Structure and Control, Feb 2013, Grenoble, France

Communication dans un congrès lirmm-00778061v1
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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⟩

Communication dans un congrès lirmm-00847648v1
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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⟩

Communication dans un congrès lirmm-00804250v1
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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⟩

Communication dans un congrès lirmm-00809710v1
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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⟩

Communication dans un congrès lirmm-00847646v1
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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

Communication dans un congrès lirmm-00809514v1
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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

Communication dans un congrès lirmm-00847170v1
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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

Communication dans un congrès lirmm-00841558v1
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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⟩

Communication dans un congrès lirmm-00723934v1
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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⟩

Communication dans un congrès hal-00717243v1
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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⟩

Communication dans un congrès lirmm-00715913v1
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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

Communication dans un congrès lirmm-00723937v1
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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⟩

Communication dans un congrès lirmm-00809634v1
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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⟩

Communication dans un congrès hal-00746494v1
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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

Communication dans un congrès lirmm-00714095v1
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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

Communication dans un congrès lirmm-00744717v1
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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

Communication dans un congrès lirmm-00809625v1
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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

Communication dans un congrès lirmm-00657453v1
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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⟩

Communication dans un congrès lirmm-00544726v1
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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⟩

Communication dans un congrès lirmm-00545458v1
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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

Communication dans un congrès lirmm-00723940v1
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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⟩

Communication dans un congrès lirmm-00545491v1
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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

Communication dans un congrès lirmm-00641588v1
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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

Communication dans un congrès lirmm-00643523v1

Les Plateformes Robotiques : De la Théorie à la Pratique ...

Ahmed Chemori

3èmes Journées Démonstrateurs en Automatique 2010, Nov 2010, Angers, France

Communication dans un congrès lirmm-00809662v1
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Sherpa, un robot marcheur bipède à actionnement réversible

Sébastien Krut , Ahmed Chemori

3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. pp.9

Communication dans un congrès lirmm-00809721v1
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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⟩

Communication dans un congrès lirmm-00429808v1
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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

Communication dans un congrès lirmm-00431187v1
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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⟩

Communication dans un congrès lirmm-00429803v1
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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⟩

Communication dans un congrès lirmm-00429818v1
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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⟩

Communication dans un congrès lirmm-00305317v1
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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

Communication dans un congrès lirmm-00363728v1
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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⟩

Communication dans un congrès hal-00200558v1
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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

Communication dans un congrès hal-00108453v1

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

Ahmed Chemori , Nicolas Marchand

2006

Communication dans un congrès hal-00083401v1