11 accepted papers
In this paper, we propose a novel adaptive feedforward super-twisting sliding mode control algorithm to resolve the tracking control problem of parallel manipulators. The proposed control scheme includes three main terms, (i) the standard super-twisting algorithm, (ii) an adaptive feedforward dynami…
In this paper, a new robust model-based super-twisting algorithm is proposed as a control solution for parallel kinematic manipulators (PKMs). The conventional super-twisting algorithm for robot manipulators has the structure of a computed-torque control which can be sensitive to measurement noise.…
This paper introduces a Model Predictive Control (MPC) strategy for fully-constrained Cable-Driven Parallel Robots. The main advantage of the proposed scheme lies in its ability to explicitly handle cable tension limits. Indeed, the cable tension distribution is performed as an integral part of the…
In this paper, we propose a novel time-varying feedback control strategy based on the Robust Integral of the Sign of the Error (RISE). The main motivation is to enhance the tracking performance of RISE controller at high dynamic operating conditions. RISE control law ensures a semi-global asymptotic…
This paper deals with a new dynamic formulation of parallel manipulators incorporating the actuator and friction dynamics to be utilized in control. A model-based controller, PD with computed feedforward, is implemented for a parallel robot taking into consideration the formulated dynamics. The moti…
This paper deals with the dynamic modeling and identification of an electrically driven underwater robot manipulator. The proposed study includes the dynamic modeling of the actuators of the arm as well as the identification of the parameters of the model. The proposed method deals with the specific…
This paper deals with the design of a new robust adaptive controller for parallel manipulators based on sliding mode and modelbased adaptive control. More precisely, the proposed controller relies on continuous finite-time terminal sliding mode (TSM) control and the linear-in-the-parameters property…
This paper deals with the control of a lower limb exoskeleton acting at the knee joint level. Classical −1 adaptive control law is proposed to ensure assistance-as-needed and resistive rehabilitation following a desired trajectory that is defined by a therapeutic doctor. This control law introduces
Control of underwater vehicles is a thoroughly investigated subject but still an open problem, because of the environmental disturbances, the highly nonlinear behaviour of vehicles, the complexity of the vehicle hydrodynamics, etc. In this paper, we are interested in depth control of a bioinspired U
This paper demonstrates a novel motion control approach for biomimetic underwater vehicles with pitching fins. Even though these vehicles are highly maneuverable, the actuation of their different degrees of freedom (DOFs) is strongly coupled. To address this problem, we propose to use smooth DOF pri…
In this paper, the recently developed ℒ1 adaptive control strategy is experimentally validated for the first time on a parallel kinematic manipulator. The ℒ1 adaptive controller is known for its decoupled estimation and control loops which enables fast adaptation while guaranteeing robustness of the…