Search Results - "Bigras, P."

A Multistage Position/Force Control for Constrained Robotic Systems With Friction: Joint-Space Decomposition, Linearization, and Multiobjective Observer/Controller Synthesis Using LMI Formalism by Khayati, K., Bigras, P., Dessaint, L.-A.

“…A historical review of constrained robot modeling and control strategies is first introduced. Next, a design of a motion/force controller for a constrained…”
Get full text

Parameter estimation for the LuGre friction model using interval analysis and set inversion by Madi, M.S., Khayati, K., Bigras, P.

“…The purpose of This work is to use bounded error estimation (BEE) approach based on interval analysis and set inversion in order to obtain guaranteed…”
Get full text

A robust feedback linearization force control of a pneumatic actuator by Khayati, K., Bigras, P., Dessaint, L.-A.

“…In this paper, an implementation of a force control for a rodless pneumatic actuator is proposed. The increasing interest of pneumatic drives is due to…”
Get full text

Lateral control of a skid-steering mining vehicle by Petrov, P., de Lafontaine, J., Bigras, P., Tetreault, M.

“…This paper proposes a nonlinear feedback path controller for a skid-steering mining vehicle. The dynamic model of the vehicle is derived using the…”
Get full text

A multi-neighborhood and multi-operator strategy for the uncapacitated exam proximity problem by Wong, T., Bigras, P., de Kelper, B.

“…A strategy featuring multiple local search operators and multiple neighborhood structures is applied to the exam proximity problem. The use of multiplicity is…”
Get full text

An Orientation Estimator for the Wheelchair's Caster Wheels by Chenier, F., Bigras, P., Aissaoui, R.

“…Wheelchair ergometers are a highly valuable tool in the study of the biomechanics of manual wheelchair propulsion. However, current ergometers have some…”
Get full text

Robust position/force controller design on an industrial robot for medical application using LMI optimization by Lessard, S., Bigras, P., Durand, L.-G., Soulez, G., Cloutier, G., De Guise, J.A.

“…This paper presents a controller design to cope with the problem of closed architecture of industrial robot. The task at hand is the position/force maneuvering…”
Get full text

Robust Force Controller for Industrial Robots: Optimal Design and Real-Time Implementation on a KUKA Robot by Bigras, P., Lambert, M., Perron, C.

“…In this brief, a new formulation is proposed for the design of a robust force controller for industrial robots with closed architecture controller. A recent…”
Get full text

Adaptive robot control using neural networks by Saad, M., Bigras, P., Dessaint, L.-A., Al-Haddad, K.

“…This paper studies the trajectory tracking problem to control the nonlinear dynamic model of a robot using neural networks. These controllers are based on…”
Get full text

Nonlinear observer for pneumatic system with non-negligible connection port restriction by Bigras, P., Khayati, K.

“…This paper presents an approach to design an observer for a pneumatic cylinder system for which the connection port comprises a non-negligible restriction. The…”
Get full text

A new dynamic model of the manual wheelchair for straight and curvilinear propulsion by Chenier, F., Bigras, P., Aissaoui, R.

“…Due to their mechanical design, current wheelchair ergometers cannot simulate the behaviour of a wheelchair propelled on curvilinear paths. This is because…”
Get full text

New formulation for an industrial robot force controller: Real-time implementation on a KUKA robot by Bigras, P., Lambert, M., Perron, C.

“…In this paper, a new formulation is proposed for the design of a force controller for an industrial robot. The model takes into account the complete kinematics…”
Get full text

New formulation for an industrial robot impedance controller: Real-time implementation on a KUKA robot by Bigras, P., Lambert, M., Perron, C.

“…In this paper, a new formulation is proposed for the design of an impedance controller for an industrial robot. This model takes into account the complete…”
Get full text

A new model-based dynamic feedback control for systems with friction by Khayati, K., Bigras, P.

“…This paper deals with an extended output- feedback positioning tracking of a servo-system with friction based on generalized Maxwell-slip (GMS) friction…”
Get full text

A software application for visualizing and understanding hydraulic and pneumatic networks by Wong, Tony, Bigras, Pascal, Cervera, Daniel

“…Hydraulic and pneumatic networks are highly nonlinear and difficult to analyze. This study presents a software application designed to help students, visualize…”
Get full text

Convergence Analysis of an Inverse Flexible Manipulator Model Algorithm by Bigras, Pascal, Saad, Maarouf, O'shea, Jules

“…In this paper we present a convergence analysis of an iterative method to obtain the inverse model in the virtual joint space of a class of flexible…”
Get full text

Modified feedback linearization controller for pneumatic system with non negligible connection port restriction by Bigras, P., Khayati, K., Wong, T.

Get full text

A robust pole clustering design of pneumatic systems using LMI approach by Khayati, K., Bigras, P., Dessaint, L.-A.

“…This article deals with a robust control scheme for a pneumatic servo system containing unknown possibly nonlinear uncertainties. Added to neglecting spool…”
Get full text

Causality assignment using multi-objective evolutionary algorithms by Wong, T., Bigras, P., Khayati, K.

“…Causality assignment is an important task in physical modeling by bond graphs. Traditional causality assignment procedures have specific aims and particular…”
Get full text

Concept of a robust control law of the pressure in a pneumatic reservoir aided by a LMI formulation by Saoud, O., Bigras, P.

“…The article presents a method for a proportional-integral (PI) control law permitting the robust stabilisation of the pressure in a pneumatic reservoir. The…”
Get full text