A Novel Adaptive Terminal Sliding Mode Control for Parallel Manipulators: Design and Real-Time Experiments

Autor: Ahmed Chemori, Moussab Bennehar, François Pierrot, Gamal El-Ghazaly

Publikováno v: 34th IEEE International Conference on Robotics and Automation
ICRA: International Conference on Robotics and Automation
ICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.6086-6092, ⟨10.1109/ICRA.2017.7989722⟩
ICRA

International audience; This paper deals with the design of a new robust adaptive controller for parallel manipulators based on sliding mode and model-based adaptive control. More precisely, the proposed controller relies on continuous finite-time te

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9c6d427e94e14d234db47ec968d17446
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01718202

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

Autor: Vincent Creuze, Moussab Bennehar, François Pierrot, Ahmed Chemori

Publikováno v: Frontiers in Robotics and AI, Vol 2 (2015)
Frontiers in Robotics and AI
Frontiers in Robotics and AI, Frontiers Media S.A., 2015, 2, pp.32. ⟨10.3389/frobt.2015.00032⟩

International audience; This paper deals with a new control scheme for parallel kinematic manipulators (PKMs) based on the L 1 adaptive control theory. The original L 1 adaptive controller is extended by including an adaptive loop based on the dynami

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9101b1b6a2bd45778494f0823aca798d
http://journal.frontiersin.org/Journal/10.3389/frobt.2015.00032/full

A New Extension of Desired Compensation Adaptive Control and its Real-Time Application to Redundantly Actuated PKMs

Autor: Moussab Bennehar, François Pierrot, Ahmed Chemori

Publikováno v: IEEE/RAS International Conference on Robotic Systems
IROS: Intelligent RObots and Systems
IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.1670-1675, ⟨10.1109/IROS.2014.6942779⟩
IROS

International audience; A new controller based on the desired compensation adaptive strategy is developed. The linear feedback gains in the conventional DCAL controller are replaced by nonlinear ones in order to improve its tracking performance and e

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::28b815556fdf92d2e19b23669661ff37
https://hal.archives-ouvertes.fr/hal-01070862/file/1101.pdf

Continuous closed form trajectories generation and control of redundantly actuated parallel kinematic manipulators

Autor: Ahmed Chemori, Moussab Bennehar, Sbastien Krut, Franois Pierrot

Publikováno v: SSD
11th International Multi-Conference on Systems, Signals and Devices
SSD: Systems, Signals and Devices
SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808879⟩

International audience; This paper deals with continuous closed form trajectories generation and control of redundantly actuated parallel kinematic manipulators. Continuous closed form trajectories are usually given by means of analytical functions o

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ac3359c422d4b0bd99b9066a6ed025e6
https://doi.org/10.1109/ssd.2014.6808879

Adaptive Control of Parallel Manipulators: Design and Real-Time Experiments

Autor: Moussab Bennehar, Ahmed Chemori, Sébastien Krut, François Pierrot

Publikováno v: HAL
Parallel Manipulators: Design, Applications and Dynamic Analysis
Cecilia Norton. Parallel Manipulators: Design, Applications and Dynamic Analysis, Nova Science Pub Inc., pp.1-30, 2016, Chapter 1, 978-1634859264
Scopus-Elsevier

International audience; In this chapter, we address a new control strategy for parallel manipulators based on L 1 adaptive control. This latter is known for its decoupled control and estimation loops, enabling fast adaptation and guaranteed robustnes

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::62eff68c6baea347f96e3bc4ab1229a4
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01892495