;. K. Abdel-malek, H. J. Abdel-malek, and . Yeh, Geometric representation of the swept volume using Jacobian rank-deficiency conditions, Computer-Aided Design, vol.29, issue.6, p.34, 1997.

Y. Altintas and W. K. Munasinghe, A hierarchical open-architecture CNC system for machine tools, CIRP Annals -Manufacturing Technology, vol.43, issue.1, pp.349-354, 1994.

Y. Altintas, Manufacturing automation: Metal cutting mechanics, machine tool calibrations, and cnc design, p.44, 2000.

Y. Altintas, K. Erkorkmaz, and W. H. Zhu, Sliding Mode Controller Design for High Speed Feed Drives, CIRP Annals -Manufacturing Technology, vol.49, issue.1, pp.265-270, 2000.

Y. Altintas and B. Sencer, High speed contouring control strategy for five-axis machine tools, CIRP Annals -Manufacturing Technology, vol.59, issue.1, pp.417-420, 2010.

Y. Altintas and M. R. Khoshdarregi, Contour error control of CNC machine tools with vibration avoidance, CIRP Annals -Manufacturing Technology, vol.61, issue.1, pp.335-338, 2012.

P. J. Barre, R. Béarée, P. Borne, and E. Dumetz, Influence of a Jerk Controlled Movement Law on the Vibratory Behaviour of High-Dynamics Systems, Journal of Intelligent and Robotic Systems, vol.42, issue.3, pp.275-293, 2005.

S. Bedi, S. Mann, and C. Menzel, Flank milling with flat end milling cutters, Computer-Aided Design, vol.35, issue.3, pp.293-300, 2003.

P. Besset and R. Béarée, FI.filter-based online jerk-constrained trajectory generation, Control Engineering Practice, vol.66, p.13, 2017.

X. Beudaert, S. Lavernhe, and C. Tournier, Feedrate interpolation with axis jerk constraints on 5-axis NURBS and G1 tool path, International Journal of Machine Tools and Manufacture, vol.57, pp.73-82, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00679118

X. Beudaert, Commande numérique ouverte : interpolation optimisée pour l'usinage 5 axes grande vitesse des surfaces complexes, 2013.

X. Beudaert, S. Lavernhe, and C. Tournier, Direct trajectory interpolation on the surface using an open CNC, The International Journal of Advanced Manufacturing Technology, vol.75, issue.1, pp.535-546, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01055090

D. Blackmore, M. C. Leu, and F. Shih, Analysis and modelling of deformed swept volumes, Computer-Aided Design. Special Issue: Mathematical methods for CAD, vol.26, issue.4, p.34, 1994.

J. E. Bobrow, S. Dubowsky, and J. S. Gibson, Time-Optimal Control of Robotic Manipulators Along Specified Paths, The International Journal of Robotics Research, vol.4, issue.3, p.37, 1985.

E. L. Bohez, Compensating for systematic errors in 5-axis NC machining, Computer-Aided Design, vol.34, issue.5, pp.391-403, 2002.

M. Y. Cheng and K. H. Su, Contouring accuracy improvement using a tangential contouring controller with a fuzzy logic-based feedrate regulator, The International Journal of Advanced Manufacturing Technology, vol.41, issue.1, pp.75-85, 2009.

]. J. Chiou, Accurate tool position for five-axis ruled surface machining by swept envelope approach, Computer-Aided Design, vol.36, issue.10, p.34, 2004.

G. C. Chiu and M. Tomizuka, Contouring control of machine tool feed drive systems: a task coordinate frame approach, IEEE Transaction on Control System Technology, vol.9, issue.1, pp.130-139, 2001.

D. W. Clarke, C. Mohtadi, and P. S. Tuffs, Generalized predictive control -Part I. and II, Automatica, vol.23, issue.2, pp.137-160, 1987.

D. W. Clarke and C. Mohtadi, Properties of generalized predictive control, vol.25, p.136, 1989.

I. F. Dagiloke, A. Kaldos, S. Douglas, and B. Mills, High-speed machining: An approach to process analysis, Journal of Materials Processing Technology, vol.54, issue.1, pp.82-87, 1995.

T. A. Davis, Y. C. Shin, and B. Yao, Adaptive Robust Control of Circular Machining Contour Error Using Global Task Coordinate Frame, ASME. J. Manuf. Sci. Eng, vol.137, issue.1, 2015.

J. J. Dong and J. A. Stori, A Generalized Time-Optimal Bi-Directional Scan Algorithm for Constrained Feedrate Optimization, ASME International Mechanical Engineering Congress and Exposition, Manufacturing Engineering and Materials Handling Engineering, vol.128, issue.2, p.38, 2005.

E. Duc, Usinage des formes gauches, contribution à l'amélioration de la qualité des trajectoires d'usinage, p.15, 1998.

E. Duc, C. Lartigue, C. Tournier, and P. Bourdet, A New Concept for the Design and the Manufacturing of Free-Form Surfaces: The Machining Surface, CIRP Annals -Manufacturing Technology, vol.48, issue.1, pp.103-106, 1999.

D. Dumur, M. Susanu, and M. Aubourg, Complex form machining with axis drive predictive control, CIRP Annals -Manufacturing Technology, vol.57, issue.1, p.133, 2008.
URL : https://hal.archives-ouvertes.fr/hal-00293350

M. A. El-khalick and N. Uchiyama, Discrete-time model predictive contouring control for biaxial feed drive systems and experimental verification, Mechatronics, vol.21, issue.6, pp.918-926, 2011.

K. Erkorkmaz and Y. Altintas, High speed CNC system design. Part I: Jerk limited trajectory generation and quintic spline interpolation, International Journal of Machine Tools and Manufacture, vol.41, issue.9, pp.1323-1345, 2001.

K. Erkorkmaz and Y. Altintas, High speed CNC system design. Part III: high speed tracking and contouring control of feed drives, International Journal of Machine Tools and Manufacture, vol.41, issue.11, pp.1637-1658, 2001.

K. Erkorkmaz, C. H. Yeung, and Y. Altintas, Virtual CNC system. Part II. High speed contouring application, International Journal of Machine Tools and Manufacture, vol.46, issue.10, pp.1124-1138, 2006.

K. Erkorkmaz, Q. G. Chen, M. Y. Zhao, X. Beudaert, and X. S. Gao, Linear programming and windowing based feedrate optimization for spline toolpaths, CIRP Annals, vol.66, issue.1, p.38, 2017.

A. Ghaffari and A. G. Ulsoy, Dynamic Contour Error Estimation and Feedback Modification for High-Precision Contouring, IEEE/ASME Transactions on Mechatronics, vol.21, issue.3, pp.1732-1741, 2016.

F. Huo and A. N. Poo, Improving contouring accuracy by using generalized crosscoupled control, International Journal of Machine Tools and Manufacture, vol.63, pp.49-57, 2012.

Y. H. Jung, D. W. Lee, J. S. Kim, and H. S. Mok, NC post-processor for 5-axis milling machine of table-rotating/tilting type, Journal of Materials Processing Technology, vol.130, p.13, 2002.

A. Kamalzadeh and K. Erkorkmaz, Accurate tracking controller design for high-speed drives, the 2nd International Conference on High Performance Cutting, vol.47, pp.1393-1400, 2007.

M. R. Khoshdarregi, S. Tappe, and Y. Altintas, Integrated Five-Axis Trajectory Shaping and Contour Error Compensation for High-Speed CNC Machine Tools

. Ieee/asme, Transactions on Mechatronics, vol.19, issue.6, pp.1859-1871, 2014.

]. K. Kim and K. Kim, A new machine strategy for sculptured surfaces using offset surface, International Journal of Production Research, vol.33, issue.6, pp.1683-1697, 1995.

Y. Koren, Cross-Coupled Biaxial Computer Control for Manufacturing Systems, Journal of Dynamic Systems, Measurement, and Control, vol.102, issue.4, pp.265-272, 1980.

Y. Koren, Computer Control of Manufacturing Systems, p.22, 1983.

Y. Koren and C. C. Lo, Variable-Gain Cross-Coupling Controller for Contouring, CIRP Annals -Manufacturing Technology, vol.40, issue.1, pp.371-374, 1991.

E. Kovács, Rotation about an arbitrary axis and reflection through an arbitrary plane, Annales Mathematicae et Informaticae, vol.40, p.28, 2012.

I. D. Landau, System identification and control design: Using p.i.m. + software, p.136, 1990.

J. M. Langeron, E. Duc, C. Lartigue, and P. Bourdet, A new format for 5-axis tool path computation, using Bspline curves, Computer-Aided Design, vol.36, issue.12, p.18, 2004.

B. Lauwers, P. Dejonghe, and J. P. Kruth, Optimal and collision free tool posture in five-axis machining through the tight integration of tool path generation and machine simulation, Computer-Aided Design, vol.35, issue.5, p.16, 2003.

S. Lavernhe, Prise en compte des contraintes associées au couple MO-CN en génération de trajectoires 5 axes UGV, vol.18, 2006.

X. Li, H. Zhao, X. Zhao, and H. Ding, Dual sliding mode contouring control with high accuracy contour error estimation for five-axis CNC machine tools, International Journal of Machine Tools and Manufacture, vol.108, pp.74-82, 2016.

R. Lin and Y. Y. Koren, Efficient Tool-Path Planning for Machining Free-Form Surfaces, ASME. Journal of Engineering for Industry, vol.118, issue.1, pp.20-28, 1996.

F. J. Lin, H. J. Shieh, P. H. Shieh, and P. H. Shen, An adaptive recurrent-neural-network motion controller for X-Y table in CNC Machine, IEEE Transactions on Systems, Man, and Cybernetics, vol.36, issue.2, pp.286-299, 2006.

M. Mori and M. Fujishima, Remote Monitoring and Maintenance System for CNC Machine Tools, Eighth CIRP Conference on Intelligent Computation in Manufacturing Engineering, vol.12, p.13, 2013.

R. Neugebauer, B. Denkena, and K. Wegener, Mechatronic Systems for Machine Tools, CIRP Annals -Manufacturing Technology, vol.56, issue.2, p.13, 2007.

P. D. Ngo and Y. C. Shin, Milling contour error control using multilevel fuzzy controller, The International Journal of Advanced Manufacturing Technology, vol.66, issue.9, pp.1641-1655, 2013.

S. L. Omirou and A. K. Barouni, Integration of new programming capabilities into a CNC milling system, Robotics and Computer-Integrated Manufacturing, vol.21, p.13, 2005.

P. Y. Pechard, Génération de trajectoire d'usinage grand vitesse 5 axes par flanc d'outil, p.45, 2011.

D. Prévost, Modélisation avancée du couple Machine Outil / Commande Numérique dans un contexte UGV pour l'optimisation du calcul de trajectoires multi axes, 2011.

D. Prévost, S. Lavernhe, C. Lartigue, and D. Dumur, Feed drive modelling for the simulation of tool path tracking in multi-axis High Speed Machining, International Journal of Mechatronics and Manufacturing Systems, vol.4, issue.3-4, pp.266-284, 2011.

G. Pritschow, On the Influence of the Velocity Gain Factor on the Path Deviation, CIRP Annals -Manufacturing Technology, vol.45, issue.1, p.52, 1996.

D. Renton and M. A. Elbestawi, High speed servo control of multi-axis machine tools, International Journal of Machine Tools and Manufacture, vol.40, issue.4, p.38, 2000.

P. Rodriguez-ayerbe and D. Dumur, Generalized Predictive Control robustification under frequency and time-domain constraints, IEEE Transactions on Control Systems Technology, vol.13, issue.4, p.142, 2005.

P. Rodriguez-ayerbe, D. Dumur, and S. Lavernhe, Axis control using model predictive control: identification and friction effect reduction, 3rd Int Conf on Virtual Machi Process Tech, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01023265

T. Schmitz, M. Davies, B. Dutterer, and J. Ziegert, The application of high-speed CNC machining to prototype production, International Journal of Machine Tools and Manufacture, vol.41, issue.8, p.13, 2001.

, Siemens Configuration Manual Simodrive 611 / Masterdrives MC, 1FT6 Synchronous Motors, vol.87, pp.144-145, 2005.

B. Sencer, Y. Altintas, and E. Croft, Feed optimization for five-axis CNC machine tools with drive constraints, International Journal of Machine Tools and Manufacture, vol.48, issue.7, p.38, 2008.

C. H. She and C. C. Chang, Design of a generic five-axis postprocessor based on generalized kinematics model of machine tool, International Journal of Machine Tools and Manufacture, vol.47, issue.3, p.13, 2007.

Z. Shiller and H. H. Lu, Robust computation of path constrained time optimal motions, Proceedings., IEEE International Conference on Robotics and Automation, vol.1, p.38, 1990.

K. Shin and N. Mckay, Minimum-time control of robotic manipulators with geometric path constraints, IEEE Transactions on Automatic Control, vol.30, issue.6, p.38, 1985.

M. Susanu, Commande prédictive hiérarchisée pour le positionnement des axes de machine-outil à architecture ouverte, p.45, 2005.

M. Susanu and D. Dumur, Hierarchical Predictive Control within an Open Architecture Virtual Machine Tool, CIRP Annals -Manufacturing Technology, vol.55, issue.1, pp.389-392, 2006.
URL : https://hal.archives-ouvertes.fr/hal-00261322

L. Tang and R. G. Landers, Predictive Contour Control With Adaptive Feed Rate

, IEEE/ASME Transactions on Mechatronics, vol.17, issue.4, pp.669-679, 2012.

L. Tang and R. G. Landers, Multiaxis Contour Control -the State of the Art, IEEE Transactions on Control Systems Technology, vol.21, issue.6, p.47, 1997.

S. D. Timar, R. T. Farouki, T. S. Smith, and C. L. Boyadjieff, Algorithms for time-optimal control of CNC machines along curved tool paths, Robotics and ComputerIntegrated Manufacturing, vol.21, issue.1, p.38, 2005.

J. Yang and K. Abdel-malek, Approximate swept volumes of NURBS surfaces or solids, Computer Aided Geometric Design, vol.22, issue.1, pp.1-26, 2005.

J. Yang and Y. Altintas, A generalized on-line estimation and control of five-axis contouring errors of CNC machine tools, International Journal of Machine Tools and Manufacture, vol.88, pp.9-23, 2015.

S. Yang, A. H. Ghasemi, X. Lu, and C. E. Okwudire, Precompensation of servo contour errors using a model predictive control framework, International Journal of Machine Tools and Manufacture, vol.98, pp.50-60, 2015.

B. Yao, High performance adaptive robust control of nonlinear systems: a general framework and new schemes. Decision and Control, Proceeding of the 36th IEEE, vol.3, pp.2489-2494, 1997.

B. Yao, C. Hu, and Q. Wang, An Orthogonal Global Task Coordinate Frame for Contouring Control of Biaxial Systems, IEEE/ASME Transactions on Mechatronics, vol.17, issue.4, pp.622-634, 2012.

G. W. Younkin, Industrial servo control systems: Fundamentals and applications, vol.60, 2003.

A. Yuen, K. Zhang, and Y. Altintas, Smooth trajectory generation for five-axis machine tools, International Journal of Machine Tools and Manufacture, vol.71, p.13, 2013.

K. Zhang, A. Yuen, and Y. Altintas, Pre-compensation of contour errors in five-axis CNC machine tools, International Journal of Machine Tools and Manufacture, vol.74, pp.1-11, 2013.

D. Zhang, J. Yang, Y. Chen, and Y. Chen, A two-layered cross coupling control scheme for a three-dimensional motion control system, International Journal of Machine Tools and Manufacture, vol.98, pp.12-20, 2015.

G. Zhao, H. An, and Q. Zhao, Contour Error Coupled-Control Strategy based on Line Interpolation and Curve Interpolation, Journal of Computers, vol.8, issue.6, pp.1512-1519, 2013.