Publications
Journal papers
  1. M. Bennehar, A.Chemori, M. Bouri, L.F. Jenni and F. Pierrot, "A New RISE-based Adaptive Control of PKMs: Design, Stability Analysis and Experiments", International Journal of Control, DOI: 10.1080/00207179.2017.1286536, to appear, 2017.
  2. Y. Bensafia, S. Ladaci, K. Khettab and A. Chemori, "Fractional Model Reference Adaptive Control for SCARA Robot Trajectory Tracking", International Journal of Industrial and Systems Engineering, to appear, 2017.
  3. M. Bennehar, A.Chemori, F. Pierrot, "A New Revised Desired Compensation Adaptive Control for Enhanced Tracking: Application to RA-PKMs", Advanced Robotics, DOI: 10.1080/01691864.2016.1204248, July 2016.
  4. H. Truong Xuan, A. Chemori, T. Pham Anh, H. Le Xuan, T. Phan Hoai, P. Vu Viet, "From PID to L1 Adaptive Control for Automatic Balancing of a Spacecraft Three-axis Simulator", International Journal of Emerging Technology and Advanced Engineering, vol 6, Issue 1, pp. 77-86, January 2016.
  5. M. Bennehar, A.Chemori, F. Pierrot and V. Creuze, "Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and Experiments" Frontiers in Robototics and AI - Robotic Control Systems, vol 2, pp. 1-11, doi: 10.3389/frobt.2015.00032, December 2015.
  6. G. Sartori-Natal, A.Chemori and F. Pierrot, "Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment", IEEE Transactions on Control Systems Technology, Vol 23, Issue 4 , pp. 1520--1535, 2015.
  7. D. Maalouf, , A.Chemori and V. Creuze, "L1 Adaptive Depth and Pitch Control of an Underwater Vehicle with Real-Time Experiments", Ocean Engineering (Elsevier), DOI: 10.1016/j.oceaneng.2015.02.002, pp. 66--77, 2015.
  8. M. Taktak-Meziou, A.Chemori, J. Ghommam and N. Derbel, "RISE Feedback with NN Feedforward Control of a Servo-Positioning System for Track Following in HDD", Transactions on Systems, Signals & Devices, Vol 10, N 1, pp. 1-23, 2015.
  9. M. Bennehar, A.Chemori, S. Krut and F. Pierrot, "Control of Redundantly Actuated PKMs for Closed-Shape Trajectories Tracking with Real-Time Experiments," Transactions on Systems, Signals and Devices, to appear, 2015.
  10. D. Maalouf, V. Creuze, A.Chemori, E. Campos, I. Torres Tamanja, J. Torres Munoz, R. Lozano and  O. Tempier, "Real-time experimental comparison of two depth control schemes for underwater vehicles", International Journal of Advanced Robotic Systems, DOI: 10.5772/59185, pp. 1--15, 2015.
  11. G. Sartori-Natal, A.Chemori and F. Pierrot, "Nonlinear Control of Parallel Manipulators for Very High Accelerations without velocity measurement: Stability Analysis and Experiments on PAR2 Parallel Manipulator", Robotica, DOI: 10.1017/S0263574714001246, pp. 1--28, 2014.
  12. D. Maalouf, V. Creuze, A.Chemori and O. Tempier, "Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle", International Journal of Robotics and Automation, To appear, 2014.
  13. D. Galdeano, A.Chemori, S. Krut and P. Fraisse, " Optimal Pattern Generator For Dynamic Walking in Humanoid Robotics", Transactions on Systems, Signals & Devices, Vol. 9, N. 1, pp. 117-142, 2014.
  14. M. Taktak-Meziou, A.Chemori, J. Ghommam and N. Derbel, " Linear and Nonliear MPC for track following in the design of HDD servo systems", International Journal of Systems, Control and Communications, Vol. 6, N .1, pp. 20–47, 2014.
  15. S. Andary, A.Chemori and S. Krut " Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation ", RSJ Adanced Robotics, vol 23,N 15, pp. 1999-2014, 2009.
  16. A.Chemori and N. Marchand "A prediction based controller for stabilization of a non-minimum phase PVTOL aircraft", International Journal of Robust and Nonlinear Control, vol 18, N 8, pp. 876-889, 2008.
  17. N. Marchand and A. Hably and A. Chemori, ”Global stabilization with low computational cost of the discrete-time chain of integrators by means of bounded controls”, IEEE Transactions on Automatic Control, vol 52, N 5, pp. 948-952, 2007.
  18. G. Poulin and A. Chemori and N. Marchand, ”Minimum energy oriented global stabilizing control of the PVTOL aircraft”, International journal of Control, , vol 80, N 3, pp. 430-442, 2007.
  19. A. Chemori and M. Alamir "Multi-step limit cycle generation for Rabbit’s walking based on a nonlinear low dimensional predictive control scheme", Mechatronics, Elsvier, vol 16, pp. 259-277, 2006.
  20. A. Chemori and M. Alamir "Limit cycle generation for a class of nonlinear systems with jumps using a low dimensional predictive control", International Journal of Control, vol 78, N 5, pp. 1206-1217, 2005.
  21. A. Chemori and A. Loria, "Control of a planar under-actuated biped on a complete walking cycle",  IEEE  Transactions on Automatic Control, vol 49, N 5, pp. 838-843, 2004.
 
Book chapters
  1. M. Bennehar, A. Chemori, S. Krut, and F. Pierrot. "Adaptive control of parallel manipulators: Design and real-time experiments". In Parallel Manipulators: Design, Applications and Dynamic Analysis, Ed Nova Science Publishers Inc, ISBN: 978-1-63485-926-4, 2017.
  2. M. Taktak-Meziou, A.Chemori, J. Ghommam and N. Derbel "Mechatronics of Hard Disk Drives: RISE Feedback Track Following Control of a R/W Head", in 'Mechatronics: Principles, Technologies and Applications', Ed Nova Science Publishers - Inc, Inc, ISBN: 978-1-63482-854-3, 2015.
  3. N. Marchand, A.Chemori and G. Poulain "Approches prédictives pour la stabilisation de l'avion planaire à décollage vertical", dans 'Objets volants miniatures : Modélisation et commande embarquée', Rogelio Lozano, Edition Hermès - Lavoisier, ISBN: 9782746214668, 2007.

 
Patents
  1. F. Pierrot, A.Chemori and M. Michelin "Method of controlling a machine with redundant parallel actuation, associeted control device and machine", Publication number : WO/2013/024227 A2, 21 February 2013.
 
Conference papers
  1. M. Bennehar, G. Elghazaly,  A. Chemori and F. Pierrot, "A Novel Adaptive Terminal Sliding Mode Control for Parallel Manipulators: Design and Real-Time Experiments", IEEE ICRA'17, Singapore, 2017.
  2. T. Salumae, A. Chemori and M. Kruusmaa, "Motion control architecture of a 4-fin U-CAT AUV using DOF prioritizations", IEEE/RSJ IROS'16, Daejeon, Korea, 2016.
  3. H. Rifai, M-S. Ben Abdessalem, A. Chemori, S. Mohammed and Y. Amirat, "Augmented L1 Adaptive Control of an Actuated Knee Joint Exoskeleton: From Design to Real-Time Experiments", IEEE ICRA’16, Stockholm, Sweden, 2016.
  4. A. Chemori, K. Kuusmik, T. Salumae and M. Kruusmaa, "Depth Control of the Biomimetic U-CAT Turtle-Like AUV With Experiments in Real Operating Conditions", IEEE ICRA'16, Stockholm, Sweden, 2016.
  5. C. Zayane-Aissa, T. M. Laleg and A. Chemori, "Control of a Perturbed Under-Actuated Mechanical System", IEEE Multi-Conference on Systems and Control - IEEE MSC’15, Sydney, Australia, 2015.
  6. M. Bennehar, A. Chemori and F. Pierrot, "L1 Adaptive Control of Parallel Kinematic Manipulators: Design and Real-Time Experiments", IEEE ICRA'15, Washington, USA, 2015.
  7. N. Khraief-Haddad, A. Chemori, J. J. Pena and S.Belghith, "Stabilization of Inertia Wheel Inverted Pendulum by Model Reference Adaptive IDA-PBC : From simulation to real-time experiments", 3rd International Conference on Control, Engineering and Information Technology - CEIT'15, Tlemcen, Algeria, 2015.
  8. Y. Miladi, A. Chemori and M. Feki, "The compass-like biped robot revisited: Nonlinear control of the disturbed passive dynamic walking", Multi-Conference on Systems, Signals and Devices - SSD'15, Mahdia, Tunisia, 2015.
  9. D. Galdeano, A. Chemori, S. Krut and P. Fraisse, "A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-Time Experiments", IEEE/RAS Humanoids'14, Madrid, Spain, 2014.
  10. M. Taktak, A. Chemori, J. Ghommam and N. Derbel, "A Prediction-Based Optimal Gain Selection in RISE Feedback Control for Hard Disc Drives", IEEE Multi-Conference on Systems and Control - MSC'14, Antibes, France, 2014.
  11. N. Khraief, A. Chemori and S. Belghith, "External Disturbance Rejection in IDA-PBC Controller for Underactuated Mechanical Systems: From Theory to Real-Time Experiments", IEEE Multi-Conference on Systems and Control - MSC'14, Antibes, France, 2014.
  12. M. Bennehar, A. Chemori, and F. Pierrot, "A Novel RISE-Based Adaptive Feedforward Controller for Redundantly Actuated Parallel Manipulators", IEEE/RSJ IROS'14, Chicago, Illinois, USA, 2014.
  13. M. Bennehar, A. Chemori, and F. Pierrot, "A New Extension of Direct Compensation Adaptive Control and its Real-Time Application to Redundantly Actuated PKMs", IEEE/RSJ IROS'14, Chicago, Illinois, USA, 2014.
  14. K. Brahim, A. Chemori, and C. Desvaux de Marigny, "FreeMove : Un fauteuil roulant de nouvelle génération", Handicap 2014 - 8ème édition, Paris, France, 2014.
  15. M. Bennehar, A. Chemori, S. Krut and F. Pierrot, "Continuous Closed-Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic Manipulators", Multi-Conference on Systems, Signals and Devices - SSD'14, Barcelona, Spain, 2014.
  16. M. Taktak, A. Chemori, J. Ghommam and N. Derbel, "RISE Feedback Control for a R/W Head Track following in Hard Disk Drives", Multi-Conference on Systems, Signals and Devices - SSD'14, Barcelona, Spain, 2014.
  17. D. Galdeano, A. Chemori, S. Krut and P. Fraisse, "Task-based whole body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion", Multi-Conference on Systems, Signals and Devices - SSD'14, Barcelona, Spain, 2014.
  18. F. Abdelhedi, Y. Bouteraa, A. Chemori and N. Derbel, "Nonlinear PID and Feedfoward control of a robotic manipulator", 15th International Conference on Sciences and Techniques of Automatic control and computer engineering - STA'14, Hammamet, Tunisia, 2014.
  19. D. Maalouf, A. Chemori and V. Creuze, "Stability analysis of a new extended L1 controller with experimental validation on an underwater vehicle", IEEE CDC'13, Florence, Italy, 2013.
  20. M. Taktak, A. Chemori, J. Ghommam and N. Derbel, "Track Following Using Nonlinear Model Predictive Control in Hard Disk Drives", IEEE/RSJ IROS'13, Tokyo, Japan, 2013.
  21. J. Lamaury, M. Gouttefarde, A. Chemori and P-E. Herve,"Dual-Space Adaptive Control of Redundantly actuated Cable-Driven Parallel Robots", IEEE/RSJ IROS'13, Tokyo, Japan, 2013.
  22. D. Maalouf, A. Chemori and V. Creuze, "A new extention of the L1 adaptive controller to drastically reduce time lags", 9th IFAC Symposium on Nonlinear Control Systems - NOLCOS'13, Toulouse, France, 2013.
  23. Z. Zarrouk, A. Chemori and P. Poignet, "Force Feedback Control for Compensation of Physiological Motions in Beating Heart Surgery with real-time experiments", The third International Conference on Systems and Control (ICSC'13), Algiers, Algeria, 2013.
  24. M. Taktak, A. Chemori, J. Ghommam and N. Derbel, "Model Predictive Tracking Control for Head-Positionning in a Hard Drive-Disk Drive", 21st Mediterranean Conference on Control and Automation - MED'13, Crete, Greece, 2013.
  25. N. Touati and A. Chemori, "Predictive Control for the Stabilization of a Fast Mechatronic System: From Simulation to Real-time Experiments", International IFAC Symposium on Mechatronic Systems - Mechatronics'13, pp. 237-242, Hangzhou, China, 2013.
  26. A. Chemori, G. Sartori-Natal and F. Pierrot, "Control of Parallel robots: Towars Very High Accelerations", Multi-Conference on Systems, Signals and Devices - SSD'13, Hammamet, Tunisia, 2013.
  27. D. Galdeano, A. Chemori, S. Krut and P. Fraisse, "Optimal Pattern Generator For Dynamic Walking in Humanoid Robotics", Multi-Conference on Systems, Signals and Devices - SSD'13, Hammamet, Tunisia, 2013.
  28. D. Maalouf, I. Tamanaja, E. Campos, A. Chemori, V. Creuze, J. Torres and R. Lozano, "From PD to Nonlinear Adaptive Depth-Control of a Tethered Autonomous Underwater Vehicle" IFAC joint conference: SSSC'13, TDS'13, FDA'13, Grenoble, France, 2013.
  29. D. Maalouf, V. Creuze and A. Chemori, "A Novel Application of Multivariable L1 Adaptive Control: From Design to Real-Time Implementation on an Underwater vehicle" IEEE/RSJ IROS'12, Algarve, Portugal, 2012.
  30. S. Andary, A. Chemori, M. Benoit, J. Sallantin, "A Dual Model-free Control of Underactuated Mechanical Systems,  Application to the Inertia Wheel Inverted Pendulum" American Control Conference - ACC'12, Montréal, Canada, 2012.
  31. D. Galdeano, V. Bonnet, M. Bennehar, P. Fraisse and A. Chemori, "Partial Human Data in Design of Human-Like Walking control in Humanoid Robotics" International IFAC Symposium on Robot Control - SYROCO'12, Dubrovnik, Croitia, 2012.
  32. D. Maalouf, V. Creuze and A. Chemori, "State Feedback Control of an Underwater Vehicle for wall following" 20th Mediterranean Conference on Control and Automation - MED'12, Barcelona, Spain, 2012.
  33. D. Maalouf, A. Chemori and V. Creuze, "L1 Adaptive Control for Small Underwater Vehicles" International Conference on Underwater Remote Sensing - ICOURS'12, Brest, France, 2012.
  34. G. Sartori-Natal, A. Chemori, and F. Pierrot, "Dual-space adaptive control of a redundantly actuated parallel Manipulators for exremely fast operations with load changes" IEEE ICRA'12, St Paul, Minnesota, USA, (Finalist Best Automation Paper Award), 2012.
  35. G. Sartori-Natal, A. Chemori, M. Michelin and F. Pierrot, "Dual-Space Control of a Redundantly Actuated Parallel Manipulator for Very High Speed Applications" IFAC Conference on Advances in PID Control - PID'12, Brescia, Italy, 2012.
  36. S. Andary, A. Chemori, "A dual Model-free control of non_minimum phase systems for generation of stable limit cycles" IEEE CDC-ECC'11, Orlando, FL USA, 2011.
  37. A. Chemori, S. Krut and N. Touati,"Le pendule inversé stabilisé par volant d'inertie, un système non linéaire sous actionné" 3ème Journées Démonstrateurs en Automatique (Démonstrateur'10), Angers, France, 2010.
  38. S. Krut, A. Chemori et al. , "Sherpa, un robot marcheur bipède à actionnement réversible" 3ème Journées Démonstrateurs en Automatique (Démonstrateur'10), Angers, France, 2010.
  39. Z. Zarrouk, A. Chemori and P. Poignet, "Adaptive Force Feedback Control for 3D Compensation of Physiological Motion in Beating Heart Surgery" IEEE/RSJ IROS'10, Taipai, Taiwan, 2010.
  40. G. Sartori-Natal, A. Chemori, F. Pierrot and O. Company, "An Experimental Comparison of State Observers for the Control of a Parallel Manipulator Without Velocity Measurements" IEEE/RSJ IROS'10, Taipai, Taiwan, 2010.
  41. N. Carlesi and A. Chemori, "Nonlinear Model Predictive Running Control of Kangaroo Robot : A One-Leg Planar Underactuated Hopping Robot" IEEE/RSJ IROS'10, Taipai, Taiwan, 2010.
  42. A. Chemori, S. Le Floch, S. Krut and E. Dombre, "A Control Architecture With Stabilizer For 3D Stable DynamicWalking of SHERPA Biped Robot on Compliant Ground" IEEE-RAS Humanoids'10,Nashville, TN, USA, 2010.
  43. G. Sartori-Natal, A. Chemori, F. Pierrot, O. Company "Control of parallel manipulators for very high accelerations : the mechanical vibrations issue " 11th Pan-American Congress of Applied Mechanics,  PACAM XI, Foz do Iguaçu, PR, Brazil, 2010.
  44. A. Chemori "A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot" IEEE/RSJ IROS'09, St-Louis, MO, USA, 2009.
  45. S. Andary, A. Chemori, S. Krut "Estimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed" IEEE/RSJ IROS'09, St-Louis, MO, USA, 2009.
  46. G. Sartori-Natal, A. Chemori, F. Pierrot, O. Company "Nonlinear Dual Mode Adaptive Control of PAR2 : a 2-dof Planar Parallel Manipulator, with Real-time Experiments" IEEE/RSJ IROS'09, St-Louis, MO, USA, 2009.
  47. P. Poignet, A. Chemori, N. Zemiti, C. Liu "Some control-related issues in mini-robotics for endoluminal surgery" IEEE EMBC'09, Mineapolis, MN, USA, 2009.
  48. S. Andary, A. Chemori and S. Krut "Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum" IEEE/RSJ IROS'08, Nice, France, 2008.
  49. M. Bachelier, A. Chemori, S. Krut "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" IEEE/RAS Humanoids'08, Daejeon, Korea, 2008.
  50. A.Chemori and N. Marchand "Global discrete time stabilization of the PVTOL aircraft based on a fast predictive controller", 17th IFAC World Congress, Seoul, République de Corée, 2008.
  51. A.Chemori and N. Marchand "A prediction based controller for stabilization of a non-minimum phase PVTOL aircraft", NMPC-FS’06 (IFAC workshop on Nonlinear Model Predictive Control for Fast System), Grenoble, France, 2006.
  52. A.Chemori and M. Alamir "A new low dimensional nonlinear predictive control scheme for Rabbit's dynamic walking control", HLR’04, Metz , France, 2004.
  53. A.Chemori and M. Alamir "Generation of Multi-steps limit cycles for Rabbit using a low dimensional nonlinear predictive control scheme", IEEE/RSJ IROS 2004, Sendai, Japan, 2004.
  54. A.Chemori and M. Alamir "Low dimensional predictive control scheme for limit cycle generation in nonlinear hybrid controlled systems", CCCT'04, Texas, USA, 2004.
  55. A.Chemori and M. Alamir "Nonlinear Predictive Control of Under-actuated Mechanical Systems, Application: the ECP 505 inverted pendulum”, MTNS'04, Leven, Belgique, 2004.
  56. A.Chemori and A. Loria, "Walking control strategy for a planar under-actuated biped robot based on optimal reference trajectories and partial feedback linearization", RoMoCo'04, Puszczykowo, Poland, 2004.
  57. A.Chemori and A. Loria, "Control of a planar five link under-actuated biped robot on a complete walking cycle", IEEE CDC'02, pp. 2056-2061, Las vegas-Nevada, USA, 2002.
  58. A.Chemori and A. Loria, "Commande d'un robot bipède sur un cycle complet de marche", CIFA'02, pp. 840-845, Nantes, France, 2002.
  1. S. Andary, A. Chemori, S. Krut "Estimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed" IEEE/RSJ IROS'09, St-Louis, MO, USA, 2009