Wilfrid Perruquetti

About

Wilfrid Perruquetti is a prominent French control systems researcher whose work has profoundly shaped the fields of sliding mode control, nonholonomic systems, and autonomous mobile robotics. He is perhaps best known as co-editor of the landmark textbook *Sliding Mode Control in Engineering* (2002), which has accumulated over 1,100 citations and remains an essential reference covering higher-order sliding modes, observers, stability, and output feedback design. His theoretical contributions extend to higher-order sliding mode stabilization for nonholonomic perturbed systems, integral sliding mode control exploiting differential flatness, and robust trajectory tracking for wheeled mobile robots — work that bridges rigorous mathematical control theory with practical implementation challenges. Perruquetti has also made significant contributions to multi-robot coordination, developing leader-follower sliding mode controllers for cooperative autonomous vehicles (344 citations) and distributed receding horizon motion planning strategies for robots with limited sensing. His later research addresses practical navigation challenges, including local minima avoidance in potential field methods and altitude control for blimp robots using advanced differentiator techniques. Collectively, his body of work demonstrates a rare ability to advance fundamental control theory while delivering solutions directly applicable to autonomous systems, making his research indispensable reading for students and practitioners in robotics and nonlinear control alike.

Research Focus

Key Achievements

Top Papers

1. 1
   Sliding Mode Control In Engineering

   1,142 citations · 2002
2. 2
   Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

   344 citations · 2008
3. 3
   Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems

   168 citations · 2003
4. 4
   Motion planning for cooperative unicycle-type mobile robots with limited sensing ranges: A distributed receding horizon approach

   60 citations · 2009
5. 5
   Performance-based reactive navigation for non-holonomic mobile robots

   45 citations · 2008
6. 6
   Avoiding local minima in the potential field method using input-to-state stability

   43 citations · 2016
7. 7
   Integral sliding mode control for trajectory tracking of a unicycle type mobile robot

   40 citations · 2006
8. 8
   Higher Order Sliding Mode Control of wheeled mobile robots in the presence of sliding effects

   36 citations · 2006
9. 9
   Integral sliding mode control of an extended Heisenberg system

   30 citations · 2009
10. 10
    Differentiator application in altitude control for an indoor blimp robot

    24 citations · 2018

Key Collaborators

Contact & Links