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Ahmed Chemori

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  • http://www.lirmm.fr/~chemori/

Présentation

**Ahmed Chemori** received his M.Sc. and Ph.D. degrees, both in automatic control from Polytechnic Institute of Grenoble, France, in 2001 and 2005 respectively. During the year 2004/2005 he has been a Research and Teaching assistant at Laboratoire de Signaux et Systèmes (LSS - Centrale Supelec) and University Paris 11. Then he joined Gipsa-Lab (Former LAG) as a CNRS postdoctoral researcher. He is currently a tenured research scientist in Automatic control and Robotics for the French National Center for Scientific Research (CNRS), at the Montpellier Laboratory of Computer Science, Robotics and Microelectronics (LIRMM). His research interests include nonlinear (adaptive and predictive) control and their real-time applications in different fields of robotics (underactuated robotics, parallel robotics, underwater robotics, humanoid robotics and wearable robotics). He is the author of more about 170 scientific publications, including international journals, patents, book chapters and international conferences. He co-supervised 17 PhD theses (including 9 defended) and more than 40 MSc theses. He served as a TPC/IPC member or associate editor for different international conferences and he organized different scientific events (e.g. PKM 2016 and PKM 2018 Summer Schools, WIR 2017 and Robo-Rehab 2019 workshops). He has been a visiting researcher/professor at different institutions (NTNU - Norway, Tohoku University - Japan, EPFL - Switzerland, TUT - Estonia, HUST - China, UPC - China, CINVESTAV - Mexico, UPT - Mexico, Chiang Mai University - Thailand, KAUST - Saudi Arabia, ENIT - Tunisia, ENSIT - Tunisia, UMC - Algeria, etc). He has also delivered various plenary/keynote lectures at different international conferences.
**Ahmed Chemori** received his M.Sc. and Ph.D. degrees, both in automatic control from Polytechnic Institute of Grenoble, France, in 2001 and 2005 respectively. During the year 2004/2005 he has been a Research and Teaching Assistant at Laboratoire de Signaux et Systèmes (LSS - Centrale Supelec) and University Paris 11. Then he joined Gipsa-Lab (Former LAG) as a CNRS postdoctoral researcher. He is currently a tenured research scientist in Automatic Control and Robotics for the French National Center for Scientific Research (CNRS), at the Montpellier Laboratory of Computer Science, Robotics, and Microelectronics (LIRMM). His research interests include nonlinear (adaptive and predictive) control and their real-time applications in different fields of robotics (underactuated robotics, parallel robotics, underwater robotics, humanoid robotics, and wearable robotics). He is the author of more than 150 scientific publications, including international journals, patents, books, book chapters, and international conferences. He co-supervised 19 PhD theses (including 15 defended) and more than 40 MSc theses. He served as a TPC/IPC member or associate editor for different international conferences and he organized different scientific events (e.g. PKM 2016 and PKM 2018 Summer Schools, WIR 2017, and Robo-Rehab 2019 workshops). He has been a visiting researcher at different institutions (NTNU - Norway, Tohoku University - Japan, EPFL - Switzerland, TUT - Estonia, HUST - China, UPC - China, CINVESTAV - Mexico, UPT - Mexico, Chiang Mai University - Thailand, KAUST - Saudi Arabia, ENIT - Tunisia, ENSIT - Tunisia, UMC - Algeria, etc). He has also delivered various plenary/keynote lectures at different international conferences.

Domaines de recherche


Publications

francois-pierrot
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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
International Journal of Control, 2019, ⟨10.1080/00207179.2019.1704063⟩
Article dans une revue lirmm-02406094v1
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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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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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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⟩
Chapitre d'ouvrage hal-02021956v1
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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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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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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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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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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⟩
Communication dans un congrès lirmm-02899141v1
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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
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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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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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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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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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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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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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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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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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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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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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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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