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113

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.


Journal articles35 documents

  • Jonatan Martín Escorcia-Hernández, Hipolito Aguilar-Sierra, Omar Aguilar-Mejía, Ahmed Chemori, José Humbérto Arroyo-Nuñez. A New Adaptive RISE Feedforward Approach based on Associative Memory Neural Networks for the Control of PKMs. Journal of Intelligent and Robotic Systems, Springer Verlag, 2020, ⟨10.1007/s10846-020-01242-9⟩. ⟨lirmm-02925920⟩
  • Jonatan Martín Escorcia-Hernández, Ahmed Chemori, Hipolito Aguilar-Sierra, Arturo Jesús Monroy-Anieva. A new solution for machining with RA-PKMs: Modelling, control and experiments. Mechanism and Machine Theory, Elsevier, 2020, 150, pp.#103864. ⟨10.1016/j.mechmachtheory.2020.103864⟩. ⟨lirmm-02514747⟩
  • Keli Shen, Ahmed Chemori, Mitsuhiro Hayashibe. Human-like Balance Recovery Based on Numerical Model Predictive Control Strategy. IEEE Access, IEEE, In press, ⟨10.1109/ACCESS.2020.2995104⟩. ⟨lirmm-02610501⟩
  • Jesus Guerrero, Jorge Antonio Torres Muñoz, Vincent Creuze, Ahmed Chemori. Adaptive Disturbance Observer for Trajectory Tracking of Underwater Vehicles. Ocean Engineering, Elsevier, 2020, 200, pp.#107080. ⟨10.1016/j.oceaneng.2020.107080⟩. ⟨lirmm-02484279⟩
  • Auwal Shehu, Ahmed Chemori, Vincent Creuze. Robust Adaptive Tracking Control of Underwater Vehicles: Design, Stability Analysis and Experiments. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2020, ⟨10.1109/TMECH.2020.3012502⟩. ⟨lirmm-02918627⟩
  • Kashif I.K. Sherwani, Neelesh Kumar, Ahmed Chemori, Munna Khan, Samer Mohammed. RISE-based adaptive control for EICoSI exoskeleton to assist knee joint mobility. Robotics and Autonomous Systems, Elsevier, In press, ⟨10.1016/j.robot.2019.103354⟩. ⟨lirmm-02356817⟩
  • Jesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed Chemori, Eduardo Campos Mercado. Saturation based nonlinear PID control for underwater vehicles: Design, stability analysis and experiments. Mechatronics, Elsevier, 2019, 61, pp.96-105. ⟨10.1016/j.mechatronics.2019.06.006⟩. ⟨lirmm-02163345⟩
  • Eduardo Campos Mercado, Jesus Monoroy, Hugo Abundis, Ahmed Chemori, Vincent Creuze, et al.. A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV. International Journal of Naval Architecture and Ocean Engineering, Elsevier, 2019, 11 (1), pp.211-224. ⟨10.1016/j.ijnaoe.2018.04.002⟩. ⟨lirmm-01783757⟩
  • Jesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed Chemori. Observation-Based Nonlinear Proportional–Derivative Control for Robust Trajectory Tracking for Autonomous Underwater Vehicles. IEEE Journal of Oceanic Engineering, Institute of Electrical and Electronics Engineers, In press, ⟨10.1109/JOE.2019.2924561⟩. ⟨lirmm-02281181⟩
  • Jesus Guerrero, Jorge Torres, Vincent Creuze, Ahmed Chemori. Trajectory tracking for autonomous underwater vehicle: An adaptive approach. Ocean Engineering, Elsevier, 2019, 172, pp.511-522. ⟨10.1016/j.oceaneng.2018.12.027⟩. ⟨lirmm-01970636⟩
  • Hussein Saied, Ahmed Chemori, Mohamed Bouri, Maher 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⟩
  • Taavi Salumäe, Ahmed Chemori, Maarja Kruusmaa. Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot. IEEE Journal of Oceanic Engineering, Institute of Electrical and Electronics Engineers, 2019, 44 (1), pp.54-71. ⟨10.1109/JOE.2017.2774318⟩. ⟨lirmm-01718243⟩
  • Yassine Bensafia, Samir Ladaci, Khatir Khettab, Ahmed Chemori. Fractional order model reference adaptive control for SCARA robot trajectory tracking. International Journal of Industrial and Systems Engineering, Inderscience, 2018, 30 (2), pp.138-156. ⟨10.1504/IJISE.2018.094839⟩. ⟨lirmm-01887395⟩
  • Qin Zhang, Jialei Zhang, Ahmed Chemori, Xianbo Xiang. Virtual Submerged Floating Operational System for Robotic Manipulation. Complexity, Wiley, 2018, 2018, pp.1-18. ⟨10.1155/2018/9528313⟩. ⟨lirmm-01920187⟩
  • Nahla Khraief Haddad, Ahmed Chemori, Safya Belghith. Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments. International Journal of Control, Taylor & Francis, 2018, 91 (12), pp.2657-2672. ⟨10.1080/00207179.2017.1331378⟩. ⟨lirmm-01719182⟩
  • 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⟩
  • Eduardo Campos Mercado, Ahmed Chemori, Vincent Creuze, Jorge Antonio Torres Muñoz, Rogelio Lozano. Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments. Mechatronics, Elsevier, 2017, 45, pp.49-59. ⟨10.1016/j.mechatronics.2017.05.004⟩. ⟨lirmm-01567465⟩
  • Hassène Gritli, Nahla Khraief, Ahmed Chemori, Safya Belghith. Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC. Nonlinear Dynamics, Springer Verlag, 2017, 89 (3), pp.2195-2226. ⟨10.1007/s11071-017-3578-y⟩. ⟨lirmm-01723917⟩
  • Jawhar Ghommam, Ahmed Chemori. Adaptive RBFNN finite-time control of normal forms for underactuated mechanical systems. Nonlinear Dynamics, Springer Verlag, 2017, 90 (1), pp.301-315. ⟨10.1007/s11071-017-3662-3⟩. ⟨lirmm-01692560⟩
  • Nahla Khraief Haddad, Safya Belghith, Hassène Gritli, Ahmed Chemori. From Hopf-bifurcation to limit cycles control in underactuated mechanical systems. International journal of bifurcation and chaos in applied sciences and engineering , World Scientific Publishing, 2017, 27 (07), ⟨10.1142/S0218127417501048⟩. ⟨lirmm-01723915⟩
  • 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⟩
  • Divine Maalouf, Vincent Creuze, Ahmed Chemori, Ivan Torres Tamanaja, Eduardo Campos Mercado, et al.. Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles Regular Paper. International Journal of Advanced Robotic Systems, InTech, 2015, 12 (2), pp.1-15. ⟨10.5772/59185⟩. ⟨lirmm-01119793⟩
  • 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⟩
  • 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⟩
  • Divine Maalouf, Ahmed Chemori, Vincent Creuze. ℒ1 Adaptive Depth and Pitch Control of an Underwater Vehicle with Real-Time Experiments. Ocean Engineering, Elsevier, 2015, 98, pp.66-77. ⟨10.1016/j.oceaneng.2015.02.002⟩. ⟨lirmm-01181508⟩
  • Divine Maalouf, Vincent Creuze, Ahmed Chemori, Olivier Tempier. Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle. International Journal of Robotics and Automation, ACTA Press, 2015, 30 (1), pp.4161-4196. ⟨10.2316/Journal.206.2015.1.206-4161⟩. ⟨lirmm-01119880⟩
  • Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel. Linear and nonlinear MPC for track following in the design of HDD servo systems. International Journal of Systems, Control and Communications, Inderscience Publishers, 2014, 6 (1), pp.20-47. ⟨10.1504/IJSCC.2014.06⟩. ⟨lirmm-01718130⟩
  • Sébastien Andary, Ahmed Chemori, Sébastien Krut. Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation. Advanced Robotics, Taylor & Francis, 2009, 23 (15), pp.1999-2014. ⟨10.1163/016918609X12529279062438⟩. ⟨lirmm-00455577⟩
  • Ahmed Chemori, Nicolas Marchand. A prediction-based nonlinear controller for stabilization of a non-minimum phase PVTOL aircraft. International Journal of Robust and Nonlinear Control, Wiley, 2008, 18 (8), pp.876-889. ⟨10.1002/rnc.1248⟩. ⟨hal-00176071⟩
  • Nicolas Marchand, Ahmad Hably, Ahmed Chemori. Global Stabilization with Low Computational Cost of the Discrete-Time Chain of Integrators by Means of Bounded Controls. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2007, 52 (5), pp.948-952. ⟨10.1109/TAC.2007.895956⟩. ⟨lirmm-00152310⟩
  • Guylaine Poulin, Ahmed Chemori, Nicolas Marchand. Minimum energy oriented global stabilizing control of the PVTOL aircraft. International Journal of Control, Taylor & Francis, 2007, 80 (3), pp.430-442. ⟨hal-00022063⟩
  • Ahmed Chemori, Mazen Alamir. Multi-step limit cycle generation for Rabbit's walking based on nonlinear low dimensional predictive control scheme. Mechatronics, Elsevier, 2006, 16 (5), pp.259-277. ⟨10.1016/j.mechatronics.2005.12.001⟩. ⟨hal-00083873⟩
  • Ahmed Chemori, Mazen Alamir. Limit cycle generation for a class of non-linear systems with jumps using a low dimensional predictive control. International Journal of Control, Taylor & Francis, 2006, 78 (15), pp.1206-1217. ⟨10.1080/00207170500268331⟩. ⟨lirmm-02502328⟩
  • Ahmed Chemori, A. Loria. Control of a Planar Underactuated Biped on a Complete Walking Cycle. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2004, 49 (5), pp.838-843. ⟨10.1109/TAC.2004.828314⟩. ⟨lirmm-02360749⟩

Poster communications2 documents

  • David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse. Human based hybrid kinematic/dynamic whole-body control in humanoid robotics. HLR: Humanoid and Legged Robots, May 2014, Heidelberg, Germany. French-German-Japanese Conference on Humanoid and Legged Robots, 2014. ⟨lirmm-00993302⟩
  • David Galdeano, Ahmed Chemori, Sébastien Krut. Optimal Pattern Generator Based on a Three-Mass Linear Inverted Pendulum Model for Dynamic Walking. HLR: Humanoid and Legged Robots, Feb 2011, Paris, France. 2011. ⟨lirmm-00982345⟩

Book sections9 documents

  • Boutheina Maalej, Ahmed Chemori, Nabil Derbel. $L1$ Adaptive Control of a Lower Limb Exoskeleton Dedicated to Kids’ Rehabilitation. New Trends in Robot Control, 270, pp.107-129, 2020, 978-981-15-1818-8. ⟨10.1007/978-981-15-1819-5_6⟩. ⟨lirmm-02478654⟩
  • 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⟩
  • Nadjah Roula, Ahmed Chemori, Rany Rizk, Youssef Zaatar. On Control Design for a Lower Limb Orthosis: A Comparative Study in Different Operating Conditions. 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⟩. ⟨lirmm-02011321⟩
  • Ahmed Chemori. Model-Free Control of the Inertia Wheel Inverted Pendulum with real-time Experiments. 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⟩. ⟨lirmm-01891582⟩
  • Jawhar Ghommam, Ahmed Chemori, Faiçal Mnif. Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system. 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⟩. ⟨lirmm-01891593⟩
  • 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⟩
  • Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel. Mechatronics of Hard Disk Drives: RISE Feedback Track Following Control of a R/W Head. Mechatronics: Principles, Technologies and Applications, Nova Science Publishers, Inc., 2015, 978-1-63482-854-3. ⟨lirmm-01893919⟩
  • Nicolas Marchand, Ahmed Chemori, Guylaine Poulin. Approches prédictives pour la stabilisation en temps discret de l'avion planaire à décollage vertical. Objets volants miniatures : modélisation et commande embarquée, Hermes Science Publications, Chapitre 5, 2007, Traité IC2, série systèmes automatisés, 9782746214668. ⟨hal-00180746⟩

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: FR 2978933 (A1) WO 2013024227 (A2). 2013. ⟨lirmm-00861244⟩

Theses1 document

  • Ahmed Chemori. Quelques contributions à la commande non linéaire des robots marcheurs bipèdes sous-actionnés. Automatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2005. Français. ⟨tel-00168406⟩

Conference papers65 documents

  • 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. 1st Virtual IFAC World Congress (IFAC-V), Jul 2020, Berlin, Germany. ⟨lirmm-02899141⟩
  • Christian Saetre, Anton Shiriaev, Stepan Pchelkin, Ahmed Chemori. Excessive Transverse Coordinates for Orbital Stabilization of (Underactuated) Mechanical Systems. European Control Conference (ECC), May 2020, Saint Petersburg, Russia. ⟨lirmm-02441659⟩
  • João Santos, Ahmed Chemori, Marc Gouttefarde. Redundancy Resolution integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments. International Conference on Robotics and Automation (ICRA), May 2020, Virtual, France. ⟨lirmm-02747604⟩
  • Hussein Saied, Ahmed Chemori, Mohamed Bouri, Maher Rafei, Clovis Francis, et al.. A New Time-Varying Feedback RISE Control of PKMs: Theory and Application. International Conference on Intelligent Robots and Systems (IROS), Nov 2019, Macau, China. pp.6775-6780. ⟨lirmm-02361068⟩
  • Rihab Kouki, Ahmed Chemori, Faouzi Bouani. A New Fast NMPC Scheme for Parallel Kinematic Manipulators: Design and Real-Time Experiments. IEEE International Conference on Signal, Control and Communication (SCC), Dec 2019, Hammamet, Tunisia. ⟨lirmm-02426278⟩
  • Boutheina Maalej, Ahmed Chemori, Nabil Derbel. Towards an Effective Robotic Device for Gait Rehabilitation of Children With Cerebral Palsy. International Conference on Signal, Control and Communication (SCC), Dec 2019, Hammamet, Tunisia. ⟨lirmm-02426698⟩
  • Boutheina Maalej, Ahmed Chemori, Nabil Derbel. Intelligent Tuning of Augmented L 1 Adaptive Control for Cerebral Palsy Kids Rehabilitation. SSD: Systems, Signals and Devices, Mar 2019, Istanbul, Turkey. In press. ⟨lirmm-02115729⟩
  • Jonatan Martín Escorcia-Hernández, Hipolito Aguilar-Sierra, Omar Aguilar-Mejía, Ahmed Chemori, José Arroyo-Núñez. An Intelligent Compensation Through B-Spline Neural Network for a Delta Parallel Robot. 6th International Conference on Control, Decision and Information Technologies (CoDIT), Apr 2019, Paris, France. pp.361-366, ⟨10.1109/CoDIT.2019.8820472⟩. ⟨lirmm-02118344⟩
  • João Santos, Ahmed Chemori, Marc Gouttefarde. Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots. CableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.221-232, ⟨10.1007/978-3-030-20751-9_19⟩. ⟨lirmm-02155794⟩
  • Kamel Menighed, Ahmed Chemori, Boumedyen Boussaid, Joseph Yamé. Networked cooperation-based distributed model predictive control using Laguerre functions for large-scale systems. 4th International Conference On Electrical Engineering and Control Applications, ICEECA 2019, Dec 2019, Constantine, Algeria. ⟨hal-02420187⟩
  • François Leborne, Vincent Creuze, Ahmed Chemori, Lorenzo Brignone. Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm. ICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.1-9, ⟨10.1109/ICRA.2018.8460963⟩. ⟨lirmm-01822247⟩
  • Afef Hfaiedh, Ahmed Chemori, Afef Abdelkrim. RISE controller for class I of underactuated mechanical systems: Design and Real-Time Experiments. ICEE: International Conference on Electromechanical Engineering, Nov 2018, Skikda, Algeria. ⟨lirmm-02115142⟩
  • Hussein Saied, Ahmed Chemori, Maher 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⟩
  • 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⟩
  • Ahmed Chemori. Control of Complex Robotic Systems: Challenges, Design and Experiments. MMAR: Methods and Models in Automation and Robotics, Aug 2017, Miedzyzdroje, Poland. pp.622-631, ⟨10.1109/MMAR.2017.8046900⟩. ⟨lirmm-01718226⟩
  • 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⟩
  • Hala Rifaï, Mohamed Ben Abdessalem, Ahmed Chemori, Samer Mohammed, Yacine Amirat. Augmented L1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments. ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.5708-5714, ⟨10.1109/ICRA.2016.7487794⟩. ⟨lirmm-01723920⟩
  • Taavi Salumäe, Ahmed Chemori, Maarja Kruusmaa. Motion control architecture of a 4-fin U-CAT AUV using DOF prioritization. IROS: Intelligent RObots and Systems, Oct 2016, Daejeon, South Korea. pp.1321-1327, ⟨10.1109/IROS.2016.7759218⟩. ⟨lirmm-01723924⟩
  • Ahmed Chemori, Keijo Kuusmik, Taavi Salumae, Maarja Kruusmaa. Depth control of the biomimetic U-CAT turtle-like AUV with experiments in real operating conditions. ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.4750-4755, ⟨10.1109/ICRA.2016.7487677⟩. ⟨lirmm-01343321⟩
  • 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⟩
  • Chadia Zayane-Aissa, Taous-Meriem Laleg-Kirati, Ahmed Chemori. Control of a Perturbed Under-Actuated Mechanical System. CCA: Conference on Control Applications, Sep 2015, Sydney, Australia. pp.249-299, ⟨10.1109/CCA.2015.7320644⟩. ⟨lirmm-01343312⟩
  • Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel. RISE Feedback Control for a R/W Head Track Following in Hard Disc Drives. SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808811⟩. ⟨lirmm-00947456⟩
  • 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⟩
  • Nahla Khraief Haddad, Ahmed Chemori, Safya Belghith. External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments. CCA: Conference on Control Applications, Oct 2014, Juan Les Antibes, France. pp.1747-1752, ⟨10.1109/CCA.2014.6981565⟩. ⟨lirmm-01722715⟩
  • Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel. A prediction-based optimal gain selection in RISE feedback control for hard disk drive. CCA: Conference on Control Applications, Oct 2014, Juan Les Antibes, France. pp.2114-2119, ⟨10.1109/CCA.2014.6981615⟩. ⟨lirmm-01723921⟩
  • 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⟩
  • David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse. A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time Experiments. Humanoids, Nov 2014, Madrid, Spain. pp.693-698, ⟨10.1109/HUMANOIDS.2014.7041438⟩. ⟨lirmm-01089549⟩
  • 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⟩
  • David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse. Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion. SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808778⟩. ⟨lirmm-00945690⟩
  • Divine Maalouf, Ivan Tamanaja, Eduardo Campos, Ahmed Chemori, Vincent Creuze, et al.. From PD to Nonlinear Adaptive Depth-Control of a Tethered Autonomous Underwater Vehicle. IFAC Joint conference, SSSC: Symposium on System Structure and Control, Feb 2013, Grenoble, France. ⟨lirmm-00778061⟩
  • Johann Lamaury, Marc Gouttefarde, Ahmed Chemori, Pierre-Elie Hervé. Dual-Space Adaptive Control of Redundantly Actuated Cable-Driven Parallel Robots. IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.4879-4886, ⟨10.1109/IROS.2013.6697060⟩. ⟨lirmm-01221399⟩
  • David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse. Optimal Pattern Generator For Dynamic Walking in humanoid Robotics. SSD: Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia. ⟨10.1109/SSD.2013.6564107⟩. ⟨lirmm-00804250⟩
  • 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⟩
  • Ahmed Chemori, Nahla Touati. Predictive control for the stabilization of a fast mechatronic system : from simulation to real-time experiments. Symposium on Mechatronic Systems, Apr 2013, Hangzhou, China. pp.237-242, ⟨10.3182/20130410-3-CN-2034.00031⟩. ⟨lirmm-00809710⟩
  • Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel. Track Following Control Using Nonlinear Model Predictive Control in Hard Disk Drives. IROS: Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. ⟨10.1109/IROS.2013.6696988⟩. ⟨lirmm-00847648⟩
  • Divine Maalouf, Ahmed Chemori, Vincent Creuze. A new extension of the L1 adaptive controller to drastically reduce the tracking time lags. NOLCOS: Nonlinear Control Systems, Sep 2013, Toulouse, France. pp.001-006. ⟨lirmm-00841558⟩
  • Divine Maalouf, Ahmed Chemori, Vincent Creuze. Stability Analysis of a New Extended L1 Controller with Experimental Validation on an Underwater Vehicle. CDC: Conference on Decision and Control, Dec 2013, Florence, Italy. ⟨lirmm-00847170⟩
  • Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel. Model Predictive Tracking Control for a Head-Positioning in a Hard-Disk-Drive. MED: Mediterranean Conference on Control and Automation, Jun 2013, Platanias-Chania, Crete, Greece. pp.1368-1373, ⟨10.1109/MED.2013.6608898⟩. ⟨lirmm-00847646⟩
  • Divine Maalouf, Vincent Creuze, Ahmed Chemori. State Feedback Control of an Underwater Vehicle for Wall Following. MED'12: 20th Mediterranean Conference on Control and Automation, Jul 2012, Barcelona, Spain. pp.6. ⟨lirmm-00714095⟩
  • Ahmed Chemori. Control of Underactuated Mechanical Systems for Stabilization and Limit Cycle Generation. ICEECA: International Conference on Electrical Engineering and Control Applications, Nov 2012, Khenchela, Algeria. ⟨lirmm-00809625⟩
  • David Galdeano, Vincent Bonnet, Moussab Bennehar, Philippe Fraisse, Ahmed Chemori. Partial Human Data in Design of Human-Like Walking Control in Humanoid Robotics. 10th IFAC Symposium on Robot Control, Syroco 2012, Sep 2012, Dubrovnik, Croatia. pp.485-490, ⟨10.3182/20120905-3-HR-2030.00187⟩. ⟨hal-00717243⟩
  • Divine Maalouf, Ahmed Chemori, Vincent Creuze. L1 Adaptative control for small underwater vehicles. ICOURS'12 : International Conference on Underwater Remote Sensing, Oct 2012, Brest, France. ⟨lirmm-00744717⟩
  • Divine Maalouf, Vincent Creuze, Ahmed Chemori. A novel application of multivariable ℒ1 adaptive control: From design to real-time implementation on an underwater vehicle. IROS: Intelligent Robots and Systems, Oct 2012, Vilamoura-Algrave, Portugal. pp.76-81, ⟨10.1109/IROS.2012.6385498⟩. ⟨hal-00746494⟩
  • Ahmed Chemori. Pattern Generation and Control of Humanoid Robots: Towards Human-Like Walking. ICEECA: International Conference on Electrical Engineering and Control Applications, Nov 2012, Khenchela, Algeria. ⟨10.13140/RG.2.2.35942.52808⟩. ⟨lirmm-00809634⟩
  • 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⟩
  • Sébastien Andary, Ahmed Chemori, Michel Benoit, Jean Sallantin. A Dual Model-Free Control of Underactuated Mechanical Systems, Application to The Inertia Wheel Inverted Pendulum. ACC'2012 : American Control Conference, Jun 2012, Montréal, Canada. pp.1029-1034. ⟨lirmm-00723934⟩
  • Sébastien Andary, Ahmed Chemori. A Dual Model-Free Control of Non-Minimum Phase Systems for Generation of Stable Limit Cycles. CDC-ECC'11: 50th IEEE Conference on Decision and Control and European Control Conference, Dec 2011, Orlando, Florida, United States. pp.1387-1392. ⟨lirmm-00657453⟩
  • Nicolas Carlési, Ahmed Chemori. Nonlinear Model Predictive Running Control of Kangaroo Robot: a One-Leg Planar Underactuated Hopping Robot. IROS: Intelligent RObots and Systems, Oct 2010, Taipei, Taiwan. pp.3634-3639, ⟨10.1109/IROS.2010.5648972⟩. ⟨lirmm-00544726⟩
  • Ahmed Chemori. Les Plateformes Robotiques : De la Théorie à la Pratique .... 3èmes Journées Démonstrateurs en Automatique 2010, Nov 2010, Angers, France. ⟨lirmm-00809662⟩
  • Sébastien Krut, Ahmed Chemori. Sherpa, un robot marcheur bipède à actionnement réversible. 3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. pp.9. ⟨lirmm-00809721⟩
  • Ahmed Chemori, Sébastien Le Floch, Sébastien Krut, Etienne Dombre. A Control Architecture With Stabilizer For 3D Stable Dynamic Walking of SHERPA Biped Robot on Compliant Ground. Humanoids, Dec 2010, Nashville, TN, United States. pp.480-485. ⟨lirmm-00643523⟩
  • 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⟩
  • Zeineb Zarrouk, Ahmed Chemori, Philippe Poignet. Adaptative Force Feedback Control for 3D Compensation of Physiological Motion in Beating Heart Surgery. IROS: Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.1856-1861, ⟨10.1109/IROS.2010.5650684⟩. ⟨lirmm-00545458⟩
  • 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⟩
  • Ahmed Chemori, Sébastien Krut, Nahla Touati. Le pendule inversé stabilisé par volant d'inertie, un système non linéaire sous-actionné. 3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. pp.10. ⟨lirmm-00723940⟩
  • Ahmed Chemori. A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot. IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.3226-3231, ⟨10.1109/IROS.2009.5353965⟩. ⟨lirmm-00429803⟩
  • Sébastien Andary, Ahmed Chemori, Sébastien Krut. Estimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed. IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.1302-1307, ⟨10.1109/IROS.2009.5354120⟩. ⟨lirmm-00429808⟩
  • 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⟩
  • Philippe Poignet, Ahmed Chemori, Nabil Zemiti, Chao Liu. Some control-related issues in mini-robotics for endoluminal surgery. EMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6850-6855. ⟨lirmm-00431187⟩
  • Marc Bachelier, Sébastien Krut, Ahmed Chemori. 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. Humanoids, Dec 2008, Daejeon, South Korea. ⟨lirmm-00363728⟩
  • Sébastien Andary, Ahmed Chemori, Sébastien Krut. Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum. IROS: Intelligent RObots and Systems, Sep 2008, Nice, France. pp.526-531, ⟨10.1109/IROS.2008.4650994⟩. ⟨lirmm-00305317⟩
  • Ahmed Chemori, Nicolas Marchand. Global discrete-time stabilization of the PVTOL aircraft based on fast predictive control. 17th IFAC World Congress (IFAC WC 2008), Jul 2008, Seoul, South Korea. pp.1747-1752, ⟨10.3182/20080706-5-KR-1001.00299⟩. ⟨hal-00200558⟩
  • Ahmed Chemori, Nicolas Marchand. A prediction based controller for stabilization of a non-minimum phase PVTOL aircraft. 2006. ⟨hal-00083401⟩
  • Ahmed Chemori, Nicolas Marchand. A prediction based controller for trajectories tracking and stabilization of a non-minimum phase PVTOL aircraft. NMPCFS: Nonlinear Model Predictive Control for Fast Systems, Oct 2006, Grenoble, France. ⟨hal-00108453⟩