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96 %

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26

Ahmed Chemori


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 120 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.


François Pierrot   

Journal articles6 documents

  • Hussein Saied, Ahmed Chemori, Mohamed Bouri, Maher El Rafei, Clovis Francis, et al.. A New Time-Varying Feedback RISE Control for 2nd-Order Nonlinear MIMO Systems: Theory and Experiments. International Journal of Control, Taylor & Francis, 2019, ⟨10.1080/00207179.2019.1704063⟩. ⟨lirmm-02406094⟩
  • Moussab Bennehar, Ahmed Chemori, Mohamed Bouri, Laurent Frédéric Jenni, François Pierrot. A new RISE-based adaptive control of PKMs: design, stability analysis and experiments. International Journal of Control, Taylor & Francis, 2018, 91 (3), pp.593-607. ⟨10.1080/00207179.2017.1286536⟩. ⟨lirmm-01692463⟩
  • Guilherme Sartori Natal, Ahmed Chemori, François Pierrot. Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulator. Robotica, Cambridge University Press, 2016, 34 (01), pp.43-70. ⟨10.1017/S0263574714001246⟩. ⟨lirmm-01342856⟩
  • Moussab Bennehar, Ahmed Chemori, François Pierrot. A new revised desired compensation adaptive control for enhanced tracking: application to RA-PKMs. Advanced Robotics, Taylor & Francis, 2016, 30 (17-18), pp.1199-1214. ⟨10.1080/01691864.2016.1204248⟩. ⟨hal-01346433⟩
  • Moussab Bennehar, Ahmed Chemori, François Pierrot, Vincent Creuze. Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and Experiments. Frontiers in Robotics and AI, Frontiers Media S.A., 2015, 2, pp.32. ⟨10.3389/frobt.2015.00032⟩. ⟨hal-01275320⟩
  • Guilherme Sartori Natal, Ahmed Chemori, François Pierrot. Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2015, 23 (4), pp.1520-1535. ⟨10.1109/TCST.2014.2377951⟩. ⟨lirmm-01342858⟩

Book sections3 documents

  • Hussein Saied, Ahmed Chemori, Maher El Rafei, Clovis Francis, François Pierrot. From Non-model-Based to Model-Based Control of PKMs: A Comparative Study. Mechanism, Machine, Robotics and Mechatronics Sciences, pp.153-169, 2019, 978-3-319-89910-7. ⟨10.1007/978-3-319-89911-4_12⟩. ⟨lirmm-02411641⟩
  • Hussein Saied, Ahmed Chemori, Micaël Michelin, Maher El Rafei, Clovis Francis, et al.. A Redundant Parallel Robotic Machining Tool: Design, Control and Real-Time Experiments. 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⟩. ⟨hal-02021956⟩
  • Moussab Bennehar, Ahmed Chemori, Sébastien Krut, François Pierrot. Adaptive Control of Parallel Manipulators: Design and Real-Time Experiments. Cecilia Norton. Parallel Manipulators: Design, Applications and Dynamic Analysis, Nova Science Pub Inc., pp.1-30, 2016, Chapter 1, 978-1634859264. ⟨lirmm-01892495⟩

Patents1 document

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

Conference papers16 documents

  • Youcef Mohamed Fitas, Ahmed Chemori, Johann Lamaury, François Pierrot. A New Time-Varying Adaptive Feedforward Sliding Mode Control of PKMs. 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⟩. ⟨lirmm-03713920⟩
  • Ghina Hassan, Ahmed Chemori, Lotfi Chikh, Pierre-Elie Hervé, Maher El Rafei, et al.. RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time Experiments. IFAC-V 2020 - 1st Virtual IFAC World Congress, Jul 2020, Berlin, Germany. pp.8519-8524, ⟨10.1016/j.ifacol.2020.12.1420⟩. ⟨lirmm-02899141⟩
  • Hussein Saied, Ahmed Chemori, Mohamed Bouri, Maher El Rafei, Clovis Francis, et al.. A New Time-Varying Feedback RISE Control of PKMs: Theory and Application. IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, China. pp.6775-6780, ⟨10.1109/IROS40897.2019.8968228⟩. ⟨lirmm-02361068⟩
  • Hussein Saied, Ahmed Chemori, Maher El Rafei, Clovis Francis, François Pierrot. Actuator and Friction Dynamics Formulation in Control of PKMs: From Design to Real-Time Experiments. IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5634-5639, ⟨10.1109/IROS.2018.8594329⟩. ⟨lirmm-01887156⟩
  • Hussein Saied, Ahmed Chemori, Maher El Rafei, Clovis Francis, François Pierrot. From Non-Model-Based to Model-Based Control of PKMs: A Comparative Study. ICAMMRMS: International Congress for the Advancement of Mechanism, Machine, Robotics and Mechatronics Sciences, Oct 2017, Beyrouth, Lebanon. ⟨hal-01631006⟩
  • Moussab Bennehar, Gamal El-Ghazaly, Ahmed Chemori, François Pierrot. A Novel Adaptive Terminal Sliding Mode Control for Parallel Manipulators: Design and Real-Time Experiments. ICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.6086-6092, ⟨10.1109/ICRA.2017.7989722⟩. ⟨lirmm-01718202⟩
  • Moussab Bennehar, Ahmed Chemori, François Pierrot. L1 Adaptive Control of Parallel Kinematic Manipulators: Design and Real-Time Experiments. ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1587-1592, ⟨10.1109/ICRA.2015.7139400⟩. ⟨hal-01176534⟩
  • Moussab Bennehar, Ahmed Chemori, François Pierrot. A Novel RISE-Based Adaptive Feedforward Controller for Redundantly Actuated Parallel Manipulators. IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.2389-2394, ⟨10.1109/IROS.2014.6942886⟩. ⟨hal-01070860⟩
  • Moussab Bennehar, Ahmed Chemori, Sébastien Krut, François Pierrot. Continuous Closed Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic Manipulators. SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808879⟩. ⟨lirmm-00947459⟩
  • Moussab Bennehar, Ahmed Chemori, François Pierrot. A New Extension of Desired Compensation Adaptive Control and its Real-Time Application to Redundantly Actuated PKMs. IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.1670-1675, ⟨10.1109/IROS.2014.6942779⟩. ⟨hal-01070862⟩
  • Ahmed Chemori, Guilherme Sartori Natal, François Pierrot. Control of Parallel Robots: Towards Very High Accelerations. SSD: Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia. pp.8. ⟨lirmm-00809514⟩
  • Guilherme Sartori Natal, Ahmed Chemori, François Pierrot. Dual-Space Adaptive Control of Redundantly Actuated Parallel Manipulators for Extremely Fast Operations With Load Changes. ICRA: International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. pp.253-258, ⟨10.1109/ICRA.2012.6224597⟩. ⟨lirmm-00715913⟩
  • Guilherme Sartori Natal, Ahmed Chemori, Micaël Michelin, François Pierrot. A Dual-Space Feedforward PID Control of Redundantly Actuated Parallel Manipulators with Real-Time Experiments. PID'12: IFAC Conference on Advances in PID Control, Mar 2012, Brescia, Italy. pp.6. ⟨lirmm-00723937⟩
  • Guilherme Sartori Natal, Ahmed Chemori, François Pierrot, Olivier Company. An experimental Comparison of State Observers for the Control of a Parallel Manipulator Without Velocity Measurements. IROS: Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.2301-2306, ⟨10.1109/IROS.2010.5650400⟩. ⟨lirmm-00545491⟩
  • Guilherme Sartori Natal, Ahmed Chemori, François Pierrot, Olivier Company. Control of Parallel Manipulators for Very High Accelerations: The Mechanical Vibrations Issue. PACAM: Pan-American Congress of Applied Mechanics, Jan 2010, Foz do Iguaçu, PR, Brazil. ⟨lirmm-00641588⟩
  • Guilherme Sartori Natal, Ahmed Chemori, François Pierrot, Olivier Company. Nonlinear Dual Mode Adaptive Control of PAR2 : a 2-dof Planar Parallel Manipulator, with Real-time Experiments. IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.2114-2119, ⟨10.1109/IROS.2009.5354083⟩. ⟨lirmm-00429818⟩