Francois Pierrot — accepted AI-conference papers

2019

A New Time-Varying Feedback RISE Control of PKMs: Theory and Application

Hussein Saied, Ahmed Chemori, Mohamed Bouri, Maher El Rafei, Clovis Francis, Francois Pierrot

IROS 2019poster

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…

Cited by 2 Source ↗Scholar ↗

2015

ℒ1 adaptive control of parallel kinematic manipulators: Design and real-time experiments

Moussab Bennehar, Ahmed Chemori, Francois Pierrot

ICRA 2015poster

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…

Cited by 15 Source ↗Scholar ↗