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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 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.
**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

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

Jesús Guerrero , Ahmed Chemori , Vincent Creuze , Jorge Torres , Eduardo Campos
Ocean Engineering, 2024, 301, pp.117560. ⟨10.1016/j.oceaneng.2024.117560⟩
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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STA-based design of an adaptive disturbance observer for autonomous underwater vehicles: From concept to real-time validation

Jesús Guerrero , Ahmed Chemori , Jorge Torres , Vincent Creuze
Control Engineering Practice, 2024, 144, pp.105831. ⟨10.1016/j.conengprac.2023.105831⟩
Article dans une revue lirmm-04364453v1
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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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Continuous–Discrete Observation-Based Robust Tracking Control of Underwater Vehicles: Design, Stability Analysis, and Experiments

Auwal Shehu Tijjani , Ahmed Chemori , Sofiane Ahmed Ali , Vincent Creuze
IEEE Transactions on Control Systems Technology, 2023, 31 (4), pp.1477--1492. ⟨10.1109/TCST.2022.3224321⟩
Article dans une revue lirmm-03883697v1
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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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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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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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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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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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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
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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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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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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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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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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Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles Regular Paper

Divine Maalouf , Vincent Creuze , Ahmed Chemori , Ivan Torres Tamanaja , Eduardo Campos Mercado
International Journal of Advanced Robotic Systems, 2015, 12 (2), pp.1-15. ⟨10.5772/59185⟩
Article dans une revue lirmm-01119793v1
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Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm

François Leborne , Vincent Creuze , Ahmed Chemori , Lorenzo Brignone
AAMAS 2018 - 17th International Conference on Autonomous Agents and MultiAgent Systems, May 2018, Brisbane, Australia. pp.4955-4960, ⟨10.1109/ICRA.2018.8460963⟩
Communication dans un congrès lirmm-01822247v1
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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
IFAC Joint conference, SSSC: Symposium on System Structure and Control, Feb 2013, Grenoble, France
Communication dans un congrès lirmm-00778061v1
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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 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