diff --git a/.gitmodules b/.gitmodules
index be6d265..0ee7b56 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -161,3 +161,15 @@
 	path = dehaeze26_decoupling_parallel_manipulators
 	url = https://git.tdehaeze.xyz/tdehaeze/dehaeze26_decoupling_parallel_manipulators
     branch = main
+[submodule "dehaeze26_cubic_architecture_decoupling"]
+	path = dehaeze26_cubic_architecture_decoupling
+	url = https://git.tdehaeze.xyz/tdehaeze/dehaeze26_cubic_architecture_decoupling
+	branch = main
+[submodule "dehaeze26_closed_loop_shaping"]
+	path = dehaeze26_closed_loop_shaping
+	url = https://git.tdehaeze.xyz/tdehaeze/dehaeze26_closed_loop_shaping
+	branch = main
+[submodule "dehaeze26_nass"]
+	path = dehaeze26_nass
+	url = https://git.tdehaeze.xyz/tdehaeze/dehaeze26_nass
+	branch = main
diff --git a/dehaeze26_closed_loop_shaping b/dehaeze26_closed_loop_shaping
new file mode 160000
index 0000000..a7b4f3d
--- /dev/null
+++ b/dehaeze26_closed_loop_shaping
@@ -0,0 +1 @@
+Subproject commit a7b4f3d60308c54c23d3d8934f14e9cc62e081af
diff --git a/dehaeze26_cubic_architecture_decoupling b/dehaeze26_cubic_architecture_decoupling
new file mode 160000
index 0000000..3816aad
--- /dev/null
+++ b/dehaeze26_cubic_architecture_decoupling
@@ -0,0 +1 @@
+Subproject commit 3816aadc75d7406ef4d1b667b65375ad93140179
diff --git a/dehaeze26_nass b/dehaeze26_nass
new file mode 160000
index 0000000..5be6891
--- /dev/null
+++ b/dehaeze26_nass
@@ -0,0 +1 @@
+Subproject commit 5be6891817c3e64936a9f8aac3293cc65744cfcf