Publications associées à FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs

Publications associées (7)

Robot-Assisted Measurement of the Critical Micelle Concentration

Francesco Stellacci, Josephine Anna Eleanor Hughes, Vincenzo Scamarcio, Gadi Slor

The critical micelle concentration (CMC) is the key characterization of surfactants. To date, no method can yield sequential CMC measurements in an automated fashion. This work introduces SIMO (smart integrator for manual operations), a novel robotic platf ...

WILEY2025

Passive Obstacle-Aware Control to Follow Desired Velocities

Aude Billard, Lukas Huber

Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains complia ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2025

A Roadmap for Ai in Robotics

Aude Billard

There is growing excitement about the potential of leveraging artificial intelligence (AI) to tackle some of the outstanding barriers to the full deployment of robots in daily lives. However, action and sensing in the physical world pose greater and differ ...

NATURE PORTFOLIO2025

Overview of the TCV digital real-time plasma control system and its applications

Basil Duval, Blaise Marlétaz, Olivier Sauter, Stefano Coda, Alexander Karpushov, Federico Alberto Alfredo Felici, Antoine Pierre Emmanuel Alexis Merle, Joan Decker, Marcelo Baquero Ruiz, Mengdi Kong, Francesco Carpanese, Federico Pesamosca, Anna Ngoc Minh Trang Vu, Aude Maier, Alessandro Pau, Mateusz Gospodarczyk, Benjamin Alexandre Vincent, Gino Marceca, Stefano Marchioni, Artur Perek, Luca Emmanuel Segovia

Real-time plasma control systems are at the heart of operation of modern tokamaks. The control system of the TCV tokamak has recently seen a major upgrade in terms of its hardware and software components. Control algorithms are entirely programmed and test ...

Elsevier2024

Transient Stability Analysis of Power-Synchronized PLL-Less Grid-Following Inverters

Alireza Karimi

In the realm of modern power systems, grid-connected inverters are essential for integrating renewable energy resources. While grid-following inverters (GFLIs) currently dominate the market, grid-forming inverters (GFMIs) are pivotal for technology future ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2024

Dynamic Vehicle Drifting With Nonlinear MPC and a Fused Kinematic-Dynamic Bicycle Model (vol 6, pg 1958, 2022)

Guillaume Denis Antoine Bellegarda

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Cable-Driven Robotic Interface for Lower Limb Neuromechanics Identification

Mohamed Bouri

This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle in the sagittal plane. This endpoint-based interface offers highly dynamic interaction and accurate position cont ...

2021