Wilfrid Perruquetti

2 accepted papers

2019

Disturbance Compensation Based Control for an Indoor Blimp Robot

Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti

ICRA 2019poster

This paper presents design of a robust controller with disturbance compensation for an indoor blimp robot and its realization. The movement of blimp in horizontal plane is modeled as a slider-like nonlinear system complemented with uncertain bounded disturbances. To design the output feedback contro…

Cited by 37 Source ↗Scholar ↗

2015

Modelling and control for position-controlled Modular Robot Manipulators

Zilong Shao, Gang Zheng, Denis Efimov, Wilfrid Perruquetti

IROS 2015poster

Modular Robot Manipulators are user-configurable manipulators which provide rapid design and inexpensive implementation. To be easy-use, smart actuators embedded with position input and position feedback controller are adopted, these local controllers render the manipulators position controlled, but…

Cited by 3 Source ↗Scholar ↗