Maher El Rafei
Lebanese University, Grenoble Images Parole Signal Automatique
Papers
9
Total Citations
143
H-Index
6
About
Maher El Rafei is a robotics and control systems researcher whose work spans advanced motion control, parallel kinematic manipulators (PKMs), cable-driven parallel robots, and bio-inspired robotic locomotion. His research is distinguished by a strong emphasis on bridging rigorous theoretical foundations with real-time experimental validation. El Rafei has made significant contributions to robust control methodologies, most notably through the development of feedforward super-twisting sliding mode controllers for robotic manipulators, which has garnered 58 citations since 2023 and established finite-time convergence guarantees via Lyapunov analysis. His work on time-optimal pick-and-throw trajectory generation for fast parallel robots (25 citations) demonstrates a practical focus on maximizing industrial productivity. His comparative and experimental studies on model-based versus non-model-based control of PKMs, along with actuator and friction dynamics formulations, have helped shape best practices in parallel robot control design. Earlier in his career, El Rafei contributed pioneering research on feedback control for three-dimensional eel-like bio-inspired robots, reflecting a breadth of expertise that extends from underwater locomotion to high-performance industrial manipulators. With work spanning cable-driven systems, RISE feedback control, and super-twisting algorithms, his cumulative contributions offer valuable insights for researchers working at the intersection of nonlinear control theory and advanced robotics.
Research Focus
Key Achievements
Top Papers
- 1
- 2Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots25 citations · 2022
- 3Feedback design for 3D movement of an Eel-like robot15 citations · 2007
- 4From Non-model-Based to Model-Based Control of PKMs: A Comparative Study13 citations · 2018
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