Charles Khairallah
Papers
2
Total Citations
133
H-Index
2
About
Charles Khairallah is a leading figure in the control of robotic manipulators, with a career spanning foundational adaptive techniques to modern robust nonlinear control. His seminal 2001 work introduced a backstepping adaptive position control strategy, offering a systematic method to ensure stability by carefully constructing Lyapunov functions for uncertain robotic systems. This foundational approach has been built upon by researchers for over two decades. More recently, Dr. Khairallah has pioneered the integration of time delay estimation with the super-twisting algorithm, a powerful sliding mode control method. His 2018 paper on this topic, which has garnered over 120 citations, demonstrates how to achieve high-precision, chattering-free control for robot manipulators even under significant model uncertainties and external disturbances. This work is particularly impactful for applications requiring robust, real-time performance. By bridging classical adaptive control with modern robust techniques, Khairallah’s research provides a clear, practical pathway for designing high-performance controllers, making his contributions essential reading for students and engineers working on advanced robotic systems.
Research Focus
Key Achievements
Top Papers
- 1
- 2Backstepping adaptive position control for robotic manipulators11 citations · 2001