Papers
6
Total Citations
447
H-Index
6
About
Laurent Praly is a leading figure in nonlinear control theory, whose work has fundamentally shaped our understanding of stabilization and passivity-based design for complex mechanical systems. His research focuses on the control of underactuated and Euler-Lagrange systems, with major contributions to global stabilization using switching, saturation, and dynamic invariants. His seminal 1995 paper on passivity-based output feedback for Euler-Lagrange systems (121 citations) established foundational tools for stabilizing mechanical systems by exploiting their natural energy properties. Praly’s 2006 work on controlling underactuated mechanical systems with switching and saturation (135 citations) has become a cornerstone reference in the field. He has also advanced adaptive nonlinear control, proposing estimation-based controllers with corrective terms for systems with linear uncertainties. More recently, his research has translated these theoretical insights into practical applications, including pioneering work on decentralized control of exoskeletons for restoring mobility in patients with lower limb paralysis (91 citations). With a career spanning decades, Praly’s work bridges rigorous nonlinear theory and real-world robotic systems, inspiring generations of control engineers.
Research Focus
Key Achievements
Top Papers
- 1Control of underactuated mechanical systems using switching and saturation135 citations · 2006
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- 6Indirect adaptive nonlinear control20 citations · 2003