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About

Sonda Abid Mhiri is a robotics researcher whose work centers on the modeling and control of parallel robots, with a particular focus on the Par4 architecture. Her key contributions lie in advancing the forward kinematic model (FKM) of parallel manipulators—a notoriously difficult problem due to its analytical complexity. In her most cited work (2018, 10 citations), she introduced a new FKM for the Par4 robot, addressing the near-impossibility of solving such models analytically by proposing an effective numerical approach. She has also made significant strides in control theory, developing a novel terminal sliding mode control (SMC) strategy for the Par4 (2019, 5 citations), which leverages SMC’s inherent robustness for nonlinear, high-speed systems. Her comparative study of computed torque control (CTC) versus SMC (2018, 3 citations) provides practical insights into controller performance for parallel robots. Mhiri’s work is notable for tackling the dual challenges of geometric modeling—using the modified Denavit-Hartenberg method (2016, 3 citations)—and robust control, making her research valuable for engineers seeking precise, reliable automation solutions.