Benyamine Allouche

  • Citations Per Year
Learn More
Steps are frequent obstacles in the human environment. To cross a small step, the system should shift immediately its center of mass to its new equilibrium. This task is not easy to perform and does not depend only on the performance of the stabilizing controller, but it is also highly linked to the mechanical structure of the system. This paper presents a(More)
The rotary inverted pendulum (RIP) is an under-actuated mechanical system. Because of its nonlinear behavior, the RIP is widely used as a benchmark in control theory to illustrate and validate new ideas in nonlinear and linear control. This paper presents a robust Takagi-Sugeno (T-S) fuzzy descriptor approach for designing a stabilizing controller for the(More)
This work presents the control of a two-degree of freedom parallel manipulator using nonlinear sliding mode approach. The aim is to achieve a robust control for trajectory tracking. The control is based on the inverse dynamic model in the Cartesian space of the parallel manipulator. Kinematic analysis are also discussed. To guarantee the high performance on(More)
In this paper, a new control design for a two-wheeled self-balanced mobile robot (TWMR) is considered. The aim is to propose a strategy for a controlled and safe crossing step in order to extend the use of TWMR by disabled persons. The crossing step problem is formulated as a stabilisation problem of an Acrobot which is a two-link robot analogous to gymnast(More)
  • 1