Papers
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Total Citations
2
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About
R. Benlamine’s research centers on advanced control systems, with a particular focus on discrete sliding mode control for robotic manipulators. Their most-cited work, “Discrete sliding mode control with uncertain modelling applied to robot manipulator” (2003), addresses the challenge of controlling two-link rigid robotic arms under uncertain dynamic models. In this paper, Benlamine formulates the discrete sliding mode control problem, establishing necessary and sufficient conditions for stability while analyzing the impact of sampling on system performance. The work demonstrates that the discrete controller can effectively handle model uncertainties, a critical issue in real-world robotics applications. Although the paper has garnered 2 citations, its contribution lies in bridging theoretical control theory with practical implementation challenges in robotics. Benlamine’s research is valuable for students and engineers working on robust control strategies for robotic systems, particularly those dealing with the complexities of discrete-time implementation and uncertain dynamics. Their work continues to inform discussions on sliding mode control in nonlinear and uncertain environments.
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