F
Franck Plestan
Researcher at École centrale de Nantes
Publications - 227
Citations - 6902
Franck Plestan is an academic researcher from École centrale de Nantes. The author has contributed to research in topics: Control theory & Sliding mode control. The author has an hindex of 28, co-authored 199 publications receiving 5830 citations. Previous affiliations of Franck Plestan include University of Michigan & Centre national de la recherche scientifique.
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Asymptotically stable walking for biped robots: analysis via systems with impulse effects
TL;DR: The principal contribution of the present work is to show that the control strategy can be designed in a way that greatly simplifies the application of the method of Poincare to a class of biped models, and to reduce the stability assessment problem to the calculation of a continuous map from a subinterval of R to itself.
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New methodologies for adaptive sliding mode control
TL;DR: The goal is to obtain a robust sliding mode adaptive-gain control law with respect to uncertainties and perturbations without the knowledge of uncertainties/perturbations bound (only the boundness feature is known).
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A novel adaptive-gain supertwisting sliding mode controller: Methodology and application
TL;DR: A novel super-twisting adaptive sliding mode control law is proposed for the control of an electropneumatic actuator using dynamically adapted control gains that ensure the establishment, in a finite time, of a real second order sliding mode.
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RABBIT: a testbed for advanced control theory
Christine Chevallereau,G. Abba,Yannick Aoustin,Franck Plestan,Eric R. Westervelt,C. Canudas-De-Wit,Jessy W. Grizzle +6 more
TL;DR: The design, construction and control of an experimental bipedal robot platform for the study of walking is described.
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Brief paper: Higher order sliding mode control based on integral sliding mode
TL;DR: It is shown that the problem is equivalent to the finite time stabilization of higher order input-output dynamics with bounded uncertainties ([email protected]?N).