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14 results on '"Inria Lille - Nord Europe"'

1. Position and velocity estimation through acceleration measurements

Author

Wilfrid Perruquetti, Antonio Estrada, Denis Efimov, Non-Asymptotic estimation for online systems (NON-A), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Systèmes Non Linéaires et à Retards (SyNeR), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centrale Lille, Inria Lille - Nord Europe, and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL)

Subjects
Particle acceleration, Physics, Zero mean, Acceleration, Position (vector), Velocity estimation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Spatial acceleration, General Medicine, Euler force
Abstract

International audience; This paper proposes a solution to the problem of velocity and position estimation for a class of oscillating systems whose position, velocity and acceleration are zero mean signals. The proposed scheme considers that the dynamic model of the system is unknown and only noisy acceleration measurements are available.

Published
2014

2. Sliding mode control for uncertain input delay fractional order systems

Author

Maamar Bettayeb, Amar Si Ammour, Malek Ghanes, Said Djennoune, Jean Pierre Barbot, Laboratoire de Conception et Conduite des systèmes de Production (L2CSP), Université Mouloud Mammeri [Tizi Ouzou] (UMMTO), ECS-Lab, Électronique et Commande des Systèmes Laboratoire (ECS-Lab), Ecole Nationale Supérieure de l'Electronique et de ses Applications-Ecole Nationale Supérieure de l'Electronique et de ses Applications, Ecole Nationale Supérieure de l'Electronique et de ses Applications, Non-Asymptotic estimation for online systems (NON-A), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Electrical and Computer Engineering Department, College Of Engineering, University Of Sharjah (Electrical and Computer Engineering Department, College Of Engineering, University Of Sharjah), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Lyapunov stability, 0209 industrial biotechnology, Fractional order systems, Sliding mode control, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], Linear system, Mode (statistics), 02 engineering and technology, General Medicine, 01 natural sciences, 020901 industrial engineering & automation, Control theory, Bounded function, 0103 physical sciences, Input-delay systems, State observer, Robust control, 010301 acoustics, Mathematics
Abstract

International audience; A sliding mode control is developed for robust stabilization of fractional-order input-delay linear systems in presence of uncertainties and external disturbances. First, a fractional-order state predictor is used to compensate the delay in the input control. Second, a robust sliding mode control is proposed in order to stabilize the system and to thwart the effect of model uncertainties and external disturbances. The sliding mode controller is designed by considering a sliding surface defined by fractional order integral. Conditions for the existence and finite time reaching of the sliding mode in presence on bounded uncertainties and bounded external disturbances are established. Further, the stability of the closed loop system on the sliding mode is analyzed by using recent results on Lyapunov stability theory for fractional order systems. A numerical example is given to illustrate some theoretical results.

Published
2013

3. On Interval Observer Design for a Class of Continuous-Time LPV Systems

Author

Tarek Raïssi, Denis Efimov, Stanislav Chebotarev, Ali Zolghadri, Department of Control Systems and Informatics, Saint Petersburg State University of Information Technologies Mechanics and Optics, Saint Petersburg State University of Information Technologies Mechanics and Optics-Saint Petersburg State University of Information Technologies Mechanics and Optics, Non-Asymptotic estimation for online systems (NON-A), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Systèmes Non Linéaires et à Retards (SyNeR), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centre d'études et de recherche en informatique et communications (CEDRIC), Ecole Nationale Supérieure d'Informatique pour l'Industrie et l'Entreprise (ENSIIE)-Conservatoire National des Arts et Métiers [CNAM] (CNAM), Laboratoire de l'intégration, du matériau au système (IMS), Université Sciences et Technologies - Bordeaux 1-Institut Polytechnique de Bordeaux-Centre National de la Recherche Scientifique (CNRS), HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), and Université Sciences et Technologies - Bordeaux 1 (UB)-Institut Polytechnique de Bordeaux-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Stability conditions, 020901 industrial engineering & automation, Robustness (computer science), Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 020208 electrical & electronic engineering, 0202 electrical engineering, electronic engineering, information engineering, 02 engineering and technology, General Medicine, Scheduling (computing), Mathematics
Abstract

International audience; This work is devoted to interval observer design for Linear Parameter-Varying (LPV) systems under assumption that the vector of scheduling parameters is not available for measurements. Stability conditions are expressed in terms of matrix inequalities, which can be solved using standard numerical solvers. Robustness and estimation accuracy with respect to model uncertainty is analyzed using L_inf/L_1 framework. Two solutions are proposed for nonnegative systems and for a generic case. The efficiency of the proposed approach is demonstrated through computer simulations.

Published
2013

4. Modeling and control of parallel multicell chopper using Petri nets

Author

Jean-Pierre Barbot, Moumen Darcherif, Bilal Amghar, Patrick Gauthier, Électronique et Commande des Systèmes Laboratoire (ECS-Lab), Ecole Nationale Supérieure de l'Electronique et de ses Applications, ECS-Lab, Ecole Nationale Supérieure de l'Electronique et de ses Applications-Ecole Nationale Supérieure de l'Electronique et de ses Applications, Non-Asymptotic estimation for online systems (NON-A), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), and Recelectronique

Subjects
0209 industrial biotechnology, Braking chopper, Engineering, business.industry, [SPI.NRJ]Engineering Sciences [physics]/Electric power, Topology (electrical circuits), 02 engineering and technology, Petri net, Converters, Inductor, [SPI.TRON]Engineering Sciences [physics]/Electronics, Chopper, 020901 industrial engineering & automation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Hybrid system, business, Pulse-width modulation
Abstract

International audience; In this paper a new class of converters power will be studied (Parallel Multicell Chopper). The topology of these chopper is based on a combination of n cells switching interconnected via independent inductors. This type of choppers is a new DC/DC static power converter which has an output current equals to n times the source current where n is the number of cells . After recalling the dynamical equations of the converter, its hybrid dynamical behavior and properties are highlighted. This particular hybrid system induces new and difficult control problems, such problem can be tackled by a new control concept based on Petri net. The PMC achieves an output current equal to n times the input current of the chopper, the major disadvantage of this type of converter is the imbalance branches of current with increasing number of cells. Therefore, modeling and control with Petri net is proposed to solve the problems of imbalanced of currents and the voltage output regulation with variation of the load. This approach is compared to the conventional PWM control.

Published
2012

5. Homogeneous approximations for multi-output systems and local observability

Author

Tomas Menard, Emmanuel Moulay, Wilfrid Perruquetti, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), SIC, XLIM (XLIM), Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS)-Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS)-Université de Poitiers, Algebra for Digital Identification and Estimation (ALIEN), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Centrale Lille-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS), Systèmes Non Linéaires et à Retards (SyNeR), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), and Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, 020208 electrical & electronic engineering, Mathematical analysis, 02 engineering and technology, Construct (python library), Space (mathematics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Homogeneous, Lie algebra, 0202 electrical engineering, electronic engineering, information engineering, Multi output, Filtration (mathematics), Vector field, Observability, Mathematics
Abstract

International audience; This paper is concerned with the study of observability properties of systems without inputs via homogeneous approximations. This approximation is induced by a filtration on the space of observation. A corresponding filtration on a Lie algebra of vector fields is defined and allows to construct the approximation that preserve observability properties. An explicit construction is given.

Published
2011

6. Delay-dependent sampled-data control of LTI systems

Author

Jean-Pierre Richard, Marc Jungers, Laurentiu Hetel, Jamal Daafouz, Systèmes Non Linéaires et à Retards (SyNeR), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Automatique de Nancy (CRAN), Université Henri Poincaré - Nancy 1 (UHP)-Institut National Polytechnique de Lorraine (INPL)-Centre National de la Recherche Scientifique (CNRS), Algebra for Digital Identification and Estimation (ALIEN), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Saclay - Ile de France, and Institut National de Recherche en Informatique et en Automatique (Inria)-Centrale Lille-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)

Subjects
020301 aerospace & aeronautics, 0209 industrial biotechnology, Engineering, business.industry, Numerical analysis, Control (management), Value (computer science), Control engineering, 02 engineering and technology, General Medicine, linear matrix inequalities (LMI), [SPI.AUTO]Engineering Sciences [physics]/Automatic, delay dependent control, Delay dependent, time-varying delay, 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, Sampled-data control, Data control, business
Abstract

International audience; In this paper the sampled-data stabilization of linear time-invariant systems with feedback delay is considered. We assume that the delay is time-varying and that its value is approximatively known.We investigate how to use the available information about the evolution of delays for adapting the control law. Numerical methods for the design of a delay-dependent controller are presented. This procedure may be used for providing a control for some cases in which the stabilization cannot be ensured using a controller with a fixed structure.

Published
2010

7. About the Lyapunov exponent of sampled-data systems with non-uniform sampling

Author

Laurentiu Hetel, Alexandre Kruszewski, Jean-Pierre Richard, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Algebra for Digital Identification and Estimation (ALIEN), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Centrale Lille-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS), Systèmes Non Linéaires et à Retards (SyNeR), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), and Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, MathematicsofComputing_NUMERICALANALYSIS, Nonuniform sampling, Sampling (statistics), 0102 computer and information sciences, 02 engineering and technology, Lyapunov exponent, 01 natural sciences, Upper and lower bounds, symbols.namesake, 020901 industrial engineering & automation, 010201 computation theory & mathematics, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Bounded function, symbols, Piecewise, Applied mathematics, Lyapunov equation, Lyapunov redesign, Mathematics
Abstract

International audience; In this paper we propose a method for evaluating the Lyapunov exponent of sampled-data systems with sampling jitter. We consider the case of systems in which the sampling interval is unknown, time-varying and bounded in a given interval. In order to take into account the inter-sampling behaviour of the system, the problem is addressed from the continuous time point of view. The approach exploits the fact that the command is a piecewise constant signal and leads to less conservative stability conditions. Using geometrical arguments, a lower bound of the Lyapunov exponent can be expressed as a generalized eigenvalue problem. Numerical examples are given to illustrate the approach.

Published
2009

8. Real-time estimation of the switching signal for perturbed switched linear systems

Author

Wilfrid Perruquetti, Cédric Join, Michel Fliess, Laboratoire d'informatique de l'École polytechnique [Palaiseau] (LIX), École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Automatique de Nancy (CRAN), Université Henri Poincaré - Nancy 1 (UHP)-Institut National Polytechnique de Lorraine (INPL)-Centre National de la Recherche Scientifique (CNRS), Algebra for Digital Identification and Estimation (ALIEN), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Centrale Lille-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS), Systèmes Non Linéaires et à Retards (SyNeR), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), and Centre National de la Recherche Scientifique (CNRS)-École polytechnique (X)

Subjects
0209 industrial biotechnology, Differential equation, Linear system, Perturbation (astronomy), 02 engineering and technology, General Medicine, 020901 industrial engineering & automation, Switching signal, Time estimation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Hybrid system, 0202 electrical engineering, electronic engineering, information engineering, Numerical differentiation, Applied mathematics, 020201 artificial intelligence & image processing, Mathematics
Abstract

International audience; We extend previous works of Fliess et al. [2008] on the estimation of the switching signal and of the state for switching linear systems to the perturbed case when the perturbation is structured that is when the perturbation is unknown but known to satisfy a certain differential equation (for example if the perturbation is constant then its time-derivative is zero). We characterize also singular inputs and/or perturbations for which the switched systems become undistinguishable. Several convincing numerical experiments are illustrating our techniques which are easily implementable.

Published
2009

9. MODEL-FREE CONTROL AND INTELLIGENT PID CONTROLLERS: TOWARDS A POSSIBLE TRIVIALIZATION OF NONLINEAR CONTROL?

Author

Cédric Join, Michel Fliess, Laboratoire d'informatique de l'École polytechnique [Palaiseau] (LIX), École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS), Algebra for Digital Identification and Estimation (ALIEN), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Centrale Lille-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Automatique de Nancy (CRAN), Université Henri Poincaré - Nancy 1 (UHP)-Institut National Polytechnique de Lorraine (INPL)-Centre National de la Recherche Scientifique (CNRS), IFAC, and Centre National de la Recherche Scientifique (CNRS)-École polytechnique (X)

Subjects
0209 industrial biotechnology, diagnosis, Computer science, [MATH.MATH-AC]Mathematics [math]/Commutative Algebra [math.AC], control with a restricted model, PID controller, robustness, [MATH.MATH-CA]Mathematics [math]/Classical Analysis and ODEs [math.CA], 02 engineering and technology, anti-windup, Nonlinear control, model-free control, universal control, 020901 industrial engineering & automation, Robustness (computer science), Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, differential algebra, Classical Analysis and ODEs (math.CA), FOS: Mathematics, 0202 electrical engineering, electronic engineering, information engineering, Differential algebra, delay systems, Mathematics - Optimization and Control, large-scale systems, PID, Linear system, linear systems, Computer Science - Numerical Analysis, non-minimum phase systems, Numerical Analysis (math.NA), General Medicine, [INFO.INFO-NA]Computer Science [cs]/Numerical Analysis [cs.NA], [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Nonlinear system, Model predictive control, numerical differentiators, Optimization and Control (math.OC), Mathematics - Classical Analysis and ODEs, 020201 artificial intelligence & image processing, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], nonlinear systems, predictive control, intelligent PID controllers, frictions
Abstract

We are introducing a model-free control and a control with a restricted model for finite-dimensional complex systems. This control design may be viewed as a contribution to "intelligent" PID controllers, the tuning of which becomes quite straightforward, even with highly nonlinear and/or time-varying systems. Our main tool is a newly developed numerical differentiation. Differential algebra provides the theoretical framework. Our approach is validated by several numerical experiments., This communication is a slightly modified and updated version of a paper by the same authors (Commande sans mod\`ele et commande \`a mod\`ele restreint, e-STA, vol. 5 (\degree 4), pp. 1-23, 2008. Available at http://hal.inria.fr/inria-00288107/en/), which is written in French

Published
2009

10. Control of a remote system over network including delays and packet dropout

Author

Jean-Pierre Richard, Alexandre Seuret, Control and Instrumentation Research Group [Lancaster], Department of Engineering [Leicester], University of Leicester-University of Leicester, Algebra for Digital Identification and Estimation (ALIEN), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Centrale Lille-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS), Systèmes Non Linéaires et à Retards (SyNeR), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), and IFAC

Subjects
0209 industrial biotechnology, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], 02 engineering and technology, Remote system, NCS (networked controlled system), [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI], 020901 industrial engineering & automation, Exponential stability, Packet loss, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, delay system, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], sampled-data system, LMI, Mathematics, remote observer, Network packet, business.industry, Lyapunov-Krasovskii functional, asymptotic stabilization, 020208 electrical & electronic engineering, Observer (special relativity), Aperiodic graph, packet loss, The Internet, business, Closed loop
Abstract

International audience; This work concerns the observer-based control of a remote, Master-Slave system through the Internet network. This communication link introduces variable, asymmetric and unpredictable delays, as well as packet loss. The data-sampling effects are also taken into account, even in the aperiodic case. Whereas the existing strategies require additional buffers, allowing the delay to become constant, the present result uses the information as soon as received. The proposed Lyapunov-Krasovskii functionals and LMI algorithms provide controller and observer gains which ensure the asymptotic stability of the global closed loop. The maximum admissible number of successive packets dropouts is also computed. The last part of the paper provides a simulation, where the Slave is a second-order system.

Published
2008

11. A convolution approach for delay systems identification

Author

Jean-Pierre Richard, Lotfi Belkoura, Michel Fliess, Algebra for Digital Identification and Estimation (ALIEN), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Centrale Lille-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS), Systèmes Non Linéaires et à Retards (SyNeR), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'informatique de l'École polytechnique [Palaiseau] (LIX), Centre National de la Recherche Scientifique (CNRS)-École polytechnique (X), and École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Identification (information), Mathematical optimization, 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Applied mathematics, 020201 artificial intelligence & image processing, 02 engineering and technology, Noisy data, Eigenvalues and eigenvectors, Mathematics, Convolution
Abstract

International audience; This paper deals with on-line identification of delay systems. Based on nonasymptotic techniques, the estimation approach reduces to solving polynomials or eigenvalue problems. Numerical simulations with noisy data but also with slowly time varying parameters and delay are provided.

Published
2008

12. FLATNESS-BASED FAULT TOLERANT CONTROL OF A NONLINEAR MIMO SYSTEM USING ALGEBRAIC DERIVATIVE ESTIMATION

Author

Philipp Mai, Johan Reger, Cédric Join, Institute of Automation and Control (EIT 8.1), Universität der Bundeswehr München [Neubiberg], Centre de Recherche en Automatique de Nancy (CRAN), Université Henri Poincaré - Nancy 1 (UHP)-Institut National Polytechnique de Lorraine (INPL)-Centre National de la Recherche Scientifique (CNRS), Algebra for Digital Identification and Estimation (ALIEN), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Centrale Lille-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS), Control Laboratory (EECS), University of Michigan [Ann Arbor], and University of Michigan System-University of Michigan System

Subjects
Fault tolerant systems, 020301 aerospace & aeronautics, 0209 industrial biotechnology, Engineering, estimation, business.industry, Underactuation, Flatness (systems theory), MIMO, Fault tolerance, 02 engineering and technology, Rigid body, nonlinear control systems, Stuck-at fault, Nonlinear system, 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Actuator, business
Abstract

A flatness-based approach to fault tolerant control is proposed. The approach uses the recently published algebraic derivative estimation method for the estimation of those output derivatives that are necessary for determining intermittent actuator faults. The rapid performance of the estimation allows for an accommodation of the control to the fault. Additionally, taking into account the control saturations a novel classification scheme for actuator faults is introduced that exhibits a comprehensible graphical representation in terms of reachable sets. Dependent on the respective class of fault, an online adaptation of the reference trajectory is carried out. The ideas are demonstrated on a nonlinear MIMO system, which corresponds to an underactuated rigid body.

Published
2007

13. TOWARDS A MODEL-FREE OUTPUT TRACKING OF SWITCHED NONLINEAR SYSTEMS

Author

Wilfrid Perruquetti, Cédric Join, Romain Bourdais, Michel Fliess, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'informatique de l'École polytechnique [Palaiseau] (LIX), Centre National de la Recherche Scientifique (CNRS)-École polytechnique (X), Algebra for Digital Identification and Estimation (ALIEN), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Centrale Lille-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Automatique de Nancy (CRAN), Université Henri Poincaré - Nancy 1 (UHP)-Institut National Polytechnique de Lorraine (INPL)-Centre National de la Recherche Scientifique (CNRS), and École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Nonlinear SISO systems, Computer science, Stability (learning theory), 02 engineering and technology, model-free control, Tracking (particle physics), numerical differentiation, 020901 industrial engineering & automation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Algebraic number, [INFO.INFO-CE]Computer Science [cs]/Computational Engineering, Finance, and Science [cs.CE], 020208 electrical & electronic engineering, Control engineering, General Medicine, Model free, hybrid systems, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Nonlinear system, Hybrid system, Numerical differentiation, switched systems, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC]
Abstract

We extend previous works on model-free control to switched nonlinear SISO systems. Our contribution, which is utilizing new algebraic methods for numerical differentiations, yields PID-like regulators which ensure practical stability. Several academic examples, with convincing computer simulations, are illustrating our approach.

Published
2007

14. AN INTEGRATED WAY TO DESIGN FD/FTC MODULES VIA PARITY SPACE AND MODEL FOLLOWING

Author

Frédéric Hamelin, Hicham Jamouli, Cédric Join, Taha Boukhobza, Centre de Recherche en Automatique de Nancy (CRAN), Université Henri Poincaré - Nancy 1 (UHP)-Institut National Polytechnique de Lorraine (INPL)-Centre National de la Recherche Scientifique (CNRS), Algebra for Digital Identification and Estimation (ALIEN), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Saclay - Ile de France, and Institut National de Recherche en Informatique et en Automatique (Inria)-Centrale Lille-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Scheme (programming language), 0209 industrial biotechnology, Engineering, Computer science, 02 engineering and technology, Residual, Fault (power engineering), Fault detection and isolation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, computer.programming_language, 020301 aerospace & aeronautics, business.industry, Control reconfiguration, Control engineering, Fault tolerance, Optimal control, Fault indicator, Stuck-at fault, Heating system, Fault coverage, Benchmark (computing), Fault model, business, computer
Abstract

International audience; This paper deals with the problem of integration of fault diagnosis and fault tolerant control modules. The main objective is to ensure a good behavior of the closed-loop system in the presence of faults and disturbances. To this aim, a global active methodology is defined in order to synthesize an additive optimal control input from fault detection and isolation results. More precisely, a robust residual is firstly generated by means of usual parity relations to detect and isolate faults on the system. Next, a fault accommodation procedure, based model following control scheme, is used to generate an additive control input according to the residual characteristics. The efficiency of this methodology is illustrated through an heating system benchmark.

Published
2006

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