Search

Your search keyword '"Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)"' showing total 25 results
Start Over Author "Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)" Journal ifac proceedings volumes
25 results on '"Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)"'

1. New Closed-Loop Output Error method for Robot Joint Stiffness Identification

Author

Alexandre Janot, Anthony Jubien, Pierre-Olivier Vandanjon, Maxime Gautier, 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), ONERA - The French Aerospace Lab [Toulouse], ONERA, Département Infrastructures et Mobilité (IFSTTAR/IM), Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR)-PRES Université Nantes Angers Le Mans (UNAM), 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 ( Polytech Nantes ), Université de Nantes ( UN ) -Université de Nantes ( UN ) -PRES Université Nantes Angers Le Mans ( UNAM ) -Centre National de la Recherche Scientifique ( CNRS ), ONERA - The French Aerospace Lab ( Toulouse ), Département Infrastructures et Mobilité ( IFSTTAR/IM ), Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux ( IFSTTAR ) -PRES Université Nantes Angers Le Mans ( UNAM ), ONERA - The French Aerospace Lab [Palaiseau], and ONERA-Université Paris Saclay (COmUE)

Subjects
0209 industrial biotechnology, Engineering, torque, Inverse, ELASTICITE, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Nonlinear programming, Computer Science::Robotics, stiffness, 020901 industrial engineering & automation, Control theory, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, joint, 0202 electrical engineering, electronic engineering, information engineering, medicine, Torque, RIGIDITE, MODELE DYNAMIQUE, IDENTIFICATION, business.industry, 020208 electrical & electronic engineering, Bandwidth (signal processing), Stiffness, Natural frequency, load, motor, Joint stiffness, ROBOT, Robot, medicine.symptom, business, force
Abstract

International audience; This paper deals with joint stiffness identification with a new Closed-Loop Output Error (CLOE) method which minimizes the quadratic error between the actual motor force/torque and the simulated one. This method is based on the DIDIM (Direct and Inverse Identification Model) procedure which has been validated on rigid robots and which is now applied to a flexible joint robot. DIDIM method requires a gain updating in the simulated robot in order to keep the bandwidth of the rigid controlled degree of freedom (dof ) and to keep the natural frequency of the flexible dof, close to the actual ones, at each step of the recursive Gauss Newton non linear programming algorithm. This gain updating requires a first step of estimating the natural frequency of the flexible dof before applying DIDIM method in a second step. An experimental setup exhibits identification results and shows the effectiveness of our approach.

Published
2012

2. A CONVEX METHOD FOR THE PARAMETRIC INSENSITIVE H2 CONTROL PROBLEM

Author

Mohamed Yagoubi, Philippe Chevrel, 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), Mines Nantes (Mines Nantes), Commande, and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN)

Subjects
0209 industrial biotechnology, Mathematical optimization, Optimization problem, 020209 energy, Structure (category theory), Regular polygon, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, Convex optimization, 0202 electrical engineering, electronic engineering, information engineering, Orthonormal basis, Sensitivity (control systems), ComputingMilieux_MISCELLANEOUS, Mathematics, Parametric statistics
Abstract

Contrary to the standard H 2 problem, the so-called insensitive H 2 problem makes use of a criterion that takes explicitly into account the parametric sensitivity of the closed loop system. This problem has already been re-formulated as a structured H 2 problem that is known to be equivalent to a specific BMI optimization problem when assuming full order controller. This paper presents a new formulation leading to a convex optimization problem. This is obtained thanks to the Youla parameterization and using the specific structure of the problem. The use of a finite dimensioned orthonormal basis for the structured Youla parameter leads to an LMI-based algorithm solving the insensitive H 2 problem. Its interest is shown by comparison with existing algorithms.

Published
2005

3. Disturbance decoupling by measurement feedback

Author

Arvo Kaldmäe, Ülle Kotta, 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), Institute of Cybernetics [Tallinn], and Tallinn Technical University

Subjects
0209 industrial biotechnology, Engineering, business.industry, MIMO, Control engineering, 02 engineering and technology, Nonlinear system, 020901 industrial engineering & automation, Control theory, Linearization, 0202 electrical engineering, electronic engineering, information engineering, Decoupling (probability), 020201 artificial intelligence & image processing, business
Abstract

The paper addresses the disturbance decoupling problem for MIMO discrete-time nonlinear systems. A sufficient conditions are derived to solve the problem by dynamic measurement feedback, i.e. the feedback that depends on measurable outputs only. The solution to the disturbance decoupling problem, described in this paper, is based on the input-output linearization, which is used to linearize certain functions. Two examples are added to illustrate the results.

Published
2014

4. Toward a Rational Matrix Approximation of the Parameter-Dependent Riccati Equation Solution

Author

Mohamed Yagoubi, Jérémie Guerra, Philippe Chevrel, 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), and Mines Nantes (Mines Nantes)

Subjects
Matrix difference equation, 0209 industrial biotechnology, Mathematical analysis, 010103 numerical & computational mathematics, 02 engineering and technology, 01 natural sciences, Square matrix, Algebraic Riccati equation, Matrix (mathematics), 020901 industrial engineering & automation, Matrix splitting, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Riccati equation, Symmetric matrix, 0101 mathematics, Square root of a matrix, Mathematics
Abstract

International audience; This paper considers the problem of solving parameter-dependent Riccati equations. In this paper, a tractable iterative scheme involving mainly additions and multiplications is developed for finding solutions to arbitrary accuracy. It is first presented in the parameter-independent case and then extended to the parametric case. It hinges upon two results: (i) a palindromic quadratic polynomial matrix characterization of the matrix sign and square root functions. (ii) a particular representation of parameter dependent matrices with negative and positive power series with respect to parameters. Several numerical examples are given throughout the paper to prove the validity of the proposed results.

Published
2014

5. Comparison of differentiation schemes for the velocity and acceleration estimations of a pneumatic system

Author

Xinming Yan, Muriel Primot, Franck Plestan, 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), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Engineering, Differentiator, Acceleration, business.industry, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Numerical analysis, Mode (statistics), Context (language use), Algebraic number, business, ComputingMilieux_MISCELLANEOUS
Abstract

In this paper, various type of differentiators are studied. In the context of velocity and acceleration estimations of a pneumatic system, a comparison is made between numerical methods, based on classical or algebraic approaches, and a high order sliding mode differentiator.

Published
2014

6. The Minimal Time-Varying Realization of a Nonlinear Time-Invariant System

Author

Ülle Kotta, Claude H. Moog, Maris Tõnso, Institute of Cybernetics [Tallinn], Tallinn Technical University, 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), and IFAC

Subjects
0209 industrial biotechnology, polynomial methods, Polynomial ring, Time-invariant system, Mathematical analysis, Minimal realization, reduction, 02 engineering and technology, General Medicine, time-varying systems, state space realization, accessibility, Algebra, Nonlinear system, 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Realizability, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, nonlinear systems, Algebraic number, Realization (systems), Subspace topology, Mathematics
Abstract

International audience; The state realization is called minimal if it is either accessible and observable or its state dimension is minimal. In the linear case those two de nitions are equivalent, but not for nonlinear time-invariant systems. It is shown that de nitions remain equivalent in case one is searching for minimal realization in a larger class of nonlinear time-varying systems.First, nonlinear realization theory is recasted for time-varying nonlinear systems. A necessary and sufficient realizability condition is given in terms of integrability of certain subspace. The mathematical tools used for this purpose are the algebraic approach of di erential forms and the theory of the skew polynomial rings; these tools are again extended from time-invariant to time-varying systems.

Published
2013

7. Accessibility of driftless single input nonlinear time-delay systems

Author

Claudia Califano, Claude H. Moog, Shunjie Li, Dipartimento di Informatica e Sistemistica 'Antonio Ruberti' (DIS), Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome], School of mathematics and statistics, Nanjing University of Science and Technology (NJUST), 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), and IFAC

Subjects
0209 industrial biotechnology, Class (set theory), Engineering, Property (philosophy), autonomous functions, business.industry, 010102 general mathematics, Context (language use), 02 engineering and technology, General Medicine, 01 natural sciences, accessibility, geometric approach, Nonlinear system, 020901 industrial engineering & automation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, time-delay systems, 0101 mathematics, business
Abstract

International audience; The accessibility property of the class of driftless single input nonlinear time-delay systems is characterized. This result is obtained within a newly introduced geometric approach. In this context all those possible autonomous elements, which can depend on the variables with time-delay, are also characterized when the system is not accessible.

Published
2013

8. Some complements about reachability and pole placement for implicit systems

Author

Guy Lebret, Jean Jacques Loiseau, Moises Bonilla, Michel Malabre, Departamento de Control Automático (CINVESTAV-IPN), Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), 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), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, State-space representation, Observable, 010103 numerical & computational mathematics, 02 engineering and technology, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Algebra, 020901 industrial engineering & automation, Control theory, Reachability, Full state feedback, 0101 mathematics, Equivalence (formal languages), Closed loop, Mathematics
Abstract

International audience; One of the most important features of the reachability of a state space representation is the complete assignability of the closed loop spectrum by means of a state feedback. This equivalence is no longer the case when dealing with implicit representations. For the reachable implicit description case, a geometric condition has to be added in order to guarantee such a pole assignment ability. In this paper, we give geometric conditions, which enable us to assign the closed loop spectrum of: (i) a reachable implicit description, and (ii) a reachable and observable implicit description with output equation.

Published
2013

9. Hybrid-Impulsive Second Order Sliding Mode Control: Lyapunov Approach

Author

Martin Weiss, Franck Plestan, Yuri B. Shtessel, Alain Glumineau, 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), University of Alabama in Huntsville (UAH), TNO Defence, Security and Safety (TNO), and The Netherlands Organisation for Applied Scientific Research (TNO)

Subjects
0209 industrial biotechnology, Engineering, Defence Research, Defence, Safety and Security, 02 engineering and technology, Sliding mode control, Stability (probability), WS - Weapon Systems, 020901 industrial engineering & automation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Convergence (routing), 0202 electrical engineering, electronic engineering, information engineering, Lyapunov redesign, Lyapunov stability, TS - Technical Sciences, business.industry, Second order sliding modes, Mode (statistics), Mechatronics, Mechanics & Materials, General Medicine, Hybrid system, Nonlinear system, Impulsive control, 020201 artificial intelligence & image processing, Aviation, business
Abstract

International audience; A perturbed nonlinear system of relative degree two controlled by discontinuous-impulsive feedbacks is studied. The hybrid-impulsive terms serve to drive instantaneously the system trajectories to the origin or to its small vicinity. In particular, impulsive-twisting control exhibits an uniform exact finite time convergence to the second order sliding mode (2-SMC) with zero convergence time. The stability of the considered hybrid-impulsive system is studied using Lyapunov approach.

Published
2013

10. Parametric Lyapunov Equation Approach for Robust H2 Analysis and Structured H2 Control Problems

Author

Jérémie Guerra, Philippe Chevrel, Mohamed Yagoubi, 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), and Mines Nantes (Mines Nantes)

Subjects
0209 industrial biotechnology, Polynomial, Mathematical optimization, Current (mathematics), 020208 electrical & electronic engineering, 02 engineering and technology, Discrete Fourier transform, symbols.namesake, Matrix (mathematics), 020901 industrial engineering & automation, Exact solutions in general relativity, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, symbols, Lyapunov equation, Lyapunov redesign, Parametric statistics, Mathematics
Abstract

International audience; This paper presents a new framework to deal with robust H2 analysis and structured H2 control problems for linear time-invariant multi-parameter dependent systems. These two problems still hold a special place for practical reasons and will be formulated, in the current paper, as a problem of finding an exact solution of some parametric Lyapunov equation. Two results are then proposed: i) A direct inversion method of a particular type parameter-dependent matrix. ii) A Discrete Fourier Transform (DFT) based inversion method for polynomial parameter dependent matrices. Some didactic examples are given, throughout the paper, to illustrate the validity of the proposed results.

Published
2013

11. Sustainable Mass Customized Enterprise: Key Concepts, Enablers and Assessment Techniques

Author

Khaled Medini, Alain Bernard, C. Da Cunha, 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), and European Project: 260090,EC:FP7:NMP,FP7-2010-NMP-ICT-FoF,S-MC-S(2010)

Subjects
[SPI.OTHER]Engineering Sciences [physics]/Other, Engineering, Knowledge management, Process management, assessment, Mass customization, Supply chain, 010501 environmental sciences, 01 natural sciences, 0502 economics and business, 11. Sustainability, supply chain, enablers, 0105 earth and related environmental sciences, Sustainable development, business.industry, 05 social sciences, sustainability, Sustainability, Key (cryptography), business, Literature survey, Inclusion (education), 050203 business & management
Abstract

International audience; Mass customization enterprises undergo governments and society pressure urging them to carry out sustainable development. The present paper attempts to scrutinise main issues related to sustainability and mass customization through a literature survey. The latter provided the basis for the definition of Sustainable Mass Customized Enterprise and points out several critical issues; in particular customer demands management that gets more complicated with inclusion of sustainability considerations.

Published
2012

12. Data processing from manufacturing systems to decision support systems: propositions of alternative design approaches

Author

Mickaël Adam, Pierre Castagna, Pascal Berruet, Olivier Cardin, 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), Lab-STICC_UBS_CACS_MOCS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), and Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, Decision support system, Integrated Computer-Aided Manufacturing, Model transformation, 02 engineering and technology, Decision support systems, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Computer-integrated manufacturing, 0202 electrical engineering, electronic engineering, information engineering, Manufacturing systems, Observers, computer.programming_language, Flexibility (engineering), business.industry, Intelligent decision support system, Model driven engineering, Data processing, Process development execution system, Systems engineering, 020201 artificial intelligence & image processing, Model-driven architecture, business, computer
Abstract

International audience; With the increase of flexibility and production rates, the complexity of manufacturing systems reached a point where the operator in charge of the production activity control of the system is not able to forecast efficiently the impact of his decisions on the global performances. As a matter of fact, more and more Decision Support Systems (DSS) are developed, as much in literature or industrial applications. DSS have one common point: the initialization of their forecasting functionality is based on data coming from the manufacturing system. Furthermore, this feature is fundamental, as it has a direct impact on the accuracy of the forecasts. Considering the variety of input and output data, a data processing is necessary to adapt those coming from the manufacturing system. The aim of this paper is to present several design approaches enabling the integrator of a new manufacturing system to speed up the implementation, with the idea of automate and systematize the maximum design phases thanks the model driven engineering.

Published
2012

13. Mobile Robot Navigation and Obstacles Avoidance based on Planning and Re-Planning Algorithm

Author

Mehdi Mouad, Lounis Adouane, Djamel Khadraoui, Philippe Martinet, Institut Pascal (IP), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-SIGMA Clermont (SIGMA Clermont)-Centre National de la Recherche Scientifique (CNRS), SIGMA Clermont (SIGMA Clermont)-Centre National de la Recherche Scientifique (CNRS)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020]), Centre de Recherche Public Henri Tudor [Headquarters] (CRP Henri Tudor), Centre de Recherche Public Henri-Tudor [Luxembourg] (CRP Henri-Tudor), 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), and SIGMA Clermont (SIGMA Clermont)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, Obstacles Avoidance, Real-time computing, Planning and Re-Planning, 02 engineering and technology, Action selection, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Obstacle avoidance, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Motion planning, Reactive Avoidance, business.industry, Control Architectures, Mobile robot navigation, Unexpected events, Scalability, Trajectory, Robot, 020201 artificial intelligence & image processing, Artificial intelligence, business
Abstract

International audience; This paper deals with a multi-mode control architecture for robot navigation and obstacle avoidance. It presents an adaptive and flexible algorithm of control which guarantees the stability and the smoothness of mobile robot navigation dealing with unexpected events. Moreover, the proposed Planning and Re-Planning (PRP) algorithm combine the two schools of thought, the one based on the path planning to avoid obstacles and reach the target, described as cognitive, and the second using the reactive algorithms. In fact the mix of these two approaches allows us to develop a very reliable algorithm. It provides us a scalable mobile robot navigation and obstacle avoidance, with less processing. It is accomplished by making an initial path planning, then to resolve the problem of unexpected static or dynamic obstacles while tracking the trajectory. A system of hierarchical action selection allows us to switch to a reactive avoidance, then to re-plan a new and safe trajectory to reach the target. A large number of simulations in different environments are performed to show the efficiency of the proposed PRP algorithm.

Published
2012

14. Optimum torque sensorless HOSM controller for IPMSM via adaptive interconnected observer

Author

Jesus de Leon, Mohamed Assaad Hamida, Alain Glumineau, 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), Facultad de Ingenieria Mecanica y Electrica (FIME), and Universidad Autonoma de Nuevo Leon [Mexique] (UANL)

Subjects
Lyapunov function, 0209 industrial biotechnology, High-order sliding mode, Observer (quantum physics), Stator, Computer science, Angular velocity, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, law.invention, symbols.namesake, 020901 industrial engineering & automation, Control theory, law, MTPA, 0202 electrical engineering, electronic engineering, information engineering, Torque, Rotor (electric), interior permanent magnet synchronous motor (IPMSM), 020208 electrical & electronic engineering, General Medicine, adaptive observer, Nonlinear system, symbols, IFAC
Abstract

International audience; In this paper, a nonlinear high order sliding mode (HOSM) controller and an adaptive interconnected observer for sensorless interior permanent magnet synchronous motors (IPMSM) are designed. A maximum-torque-per-ampere strategy (MTPA) is used to compute direct rotor current reference. The high order sliding mode controller is designed in order to ensure finite-time convergence of sliding variables and its high order time derivatives despite parameter uncertainties and unknown load torque. The adaptive interconnected observer estimates the currents, the angular velocity, the position, the load torque and the stator resistance. By Lyapunov theory, the observer-controller stability is proved. Simulation results confirm the effectiveness of the proposed method.

Published
2012

15. 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

16. Sensorless speed control of a permanent magnet synchronous motor: high order sliding mode controller and sliding mode observer

Author

Marwa Ezzat, Franck Plestan, Alain Glumineau, 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), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Electronic speed control, Permanent magnet synchronous motor, Observer (quantum physics), Computer science, 020208 electrical & electronic engineering, Control engineering, 02 engineering and technology, 020901 industrial engineering & automation, Computer Science::Systems and Control, Robustness (computer science), Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Observability, High order, Synchronous motor
Abstract

International audience; In this paper, a robust sensorless speed observer-controller scheme for a permanent magnet synchronous motor (PMSM) is proposed. First-of-all, the observability of the PMSM is studied and fixed for the surface permanent magnet synchronous motor(SPMSM). Secondly, a complete model observer based on sliding mode technique in order to estimate both position and speed is designed. Then, a high order sliding mode controller is developed. By using this technique, the well-known “chattering” phenomenon is highly attenuated. The stability and the robustness of the controller-observer scheme are proved. The overall system is tested by simulation with significant tests of robustness in the framework of an industrial benchmark.

Published
2010

17. Generalized H2-Preview Control and its Application to Car Lateral Steering

Author

Louay Saleh, Philippe Chevrel, Jean-François Lafay, 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), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, business.industry, 020208 electrical & electronic engineering, Control (management), Control engineering, 02 engineering and technology, Finite horizon, Optimal control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, optimal control, Improved performance, HE-preview, 020901 industrial engineering & automation, Control theory, Control system, Path (graph theory), 0202 electrical engineering, electronic engineering, information engineering, business, Lateral steering
Abstract

International audience; . This paper is dedicated to studying the characteristics of the optimal preview control for lateral steering of a passenger vehicle. This synthesis of control law has proved through many applications its ability to guarantee improved performance. The success of this advanced control strategy lies mainly in its ability to include knowledge of a path to follow in the future on a finite horizon, and its ability to moderate the effect of potential delays in the control loop through the advanced information. H2-Preview; Lateral steering; optimal control

Published
2010

18. Vertical integration: modeling and evaluation

Author

Philippe Rauffet, Victor Vergara Canizales, Josu Aranbarri Artetxe, Catherine da Cunha, 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), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)

Subjects
[SPI.OTHER]Engineering Sciences [physics]/Other, Service (business), 05 social sciences, Vertical integration, Product (business), Reduction (complexity), 8. Economic growth, 0502 economics and business, Production (economics), Organizational structure, Business, 050207 economics, Marketing, ComputingMilieux_MISCELLANEOUS, 050203 business & management, Industrial organization
Abstract

This paper aims at examining how a change in organizational structure affects a firm performance. In a competitive environment, firms have to “share” customers who want a given product/service. Since integration impacts prices, which is a major choice criterion for customers, it thus impacts sales and profits. A model is proposed that integrates production costs and reduction of the double marginalization effect. Thus, it enables to compare the monetary performance of independent and vertically integrated structures. The computational results stress the organization performance depending on the substitutability of the produced goods.

Published
2009

19. Contribution of simulation in the product-driven systems production activity control

Author

Etienne Chové, Pierre Castagna, Olivier Cardin, 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), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Flexibility (engineering), 0209 industrial biotechnology, Computer science, Supply chain, 020208 electrical & electronic engineering, Control (management), Global vision, 02 engineering and technology, Decentralization, Manufacturing engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, Production (economics), Product (category theory)
Abstract

International audience; While promoting the emergence of product driven production activity control concept, the development of RFID technologies had many benefits on numerous elements of the Supply Chain. Indeed, product driven systems enable a great flexibility by decentralizing the decision centres. However, this decentralization does not allow any more to have a global vision, generally necessary for the system's production activity control. We suggest in this article to use simulation to obtain this global vision, in preparation for providing behaviour prevision functions.

Published
2008

20. Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins

Author

Mathieu Porez, Frédéric Boyer, M. El Rafei, Nicolas Marchand, Mazen Alamir, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), 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), and ANR-RAAMO, ROBEA-CNRS

Subjects
0209 industrial biotechnology, Engineering, Eel Robot, 010505 oceanography, business.industry, Work (physics), Context (language use), 02 engineering and technology, Tracking (particle physics), Motion control, 01 natural sciences, Rolling angle, 020901 industrial engineering & automation, Position (vector), Control theory, 3D Control, Robot, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business, 0105 earth and related environmental sciences
Abstract

International audience; In this paper, recent advances in the design of feedback laws for the 3D movement of an Eel-like robot are presented. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the Eel head as well as the stabilization of the rolling angle without using pectoral fins. We build on a previous work in which we proposed a complete control scheme for robot's 3D movement using its pectoral fins. The controller is tested on a recently developed complete 3D model in order to assess its efficiency in tackling 3D manoeuvres.

Published
2008

21. Delay-Scheduled State-Feedback Design for Time-Delay Systems with Time-Varying Delays

Author

Olivier Sename, Corentin Briat, Jean-François Lafay, GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), 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), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Mathematical optimization, Lemma (mathematics), Stability test, Model transformation, Linear system, 02 engineering and technology, General Medicine, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Relaxation (approximation), State (computer science), computer, Mathematics, computer.programming_language, Block (data storage)
Abstract

International audience; This paper is concerned in the synthesis of delay-scheduled state-feedback stabilizing linear systems with time-varying delay when the delay can be approximatively known in realtime. First we introduce a new model transformation turning the time-delay system into an uncertain LPV system. Using this reformulation we elaborate delay-dependent stability test based on the so-called full block S-procedure and derive from it a delay-dependent stabilization lemma. Our results are then relaxed using a new relaxation lemma which is shown to have good properties and provide then LMI based theorems, well-known for their tractability. Our results tackle error measurement on the delay. We show the efficiency of the method through an example.

Published
2008

22. INTERNAL MODEL PRINCIPLE FOR TIME-DELAY SYSTEMS OF RETARDED TYPE

Author

M. Di Loreto, Jean-Jaques Loiseau, Jean-François Lafay, Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), 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), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)

Subjects
pseudo-polynomials, 0209 industrial biotechnology, Diophantine equations, Diophantine equation, 010102 general mathematics, Internal model, time-delay system, parametrization, robustness, 02 engineering and technology, General Medicine, internal model principle, 01 natural sciences, stabilization, [SPI.TRON]Engineering Sciences [physics]/Electronics, Tracking error, 020901 industrial engineering & automation, Control theory, Robustness (computer science), Bounded function, 0101 mathematics, Algebraic number, Mathematics
Abstract

Site de la Conférence : http://www.ifac-papersonline.net/System_Structure_and_Control/Third_IFAC_Symposium_on_System_Structure_and_Control__2007_/index.html; International audience; This papers addresses the internal model principle problem for time-delay systems of retarded type. Based on an algebraic approach, a parametrization of all stabilizing compensators using proper and stable fractions of pseudopolynomials is proposed in a first part. Then, we consider the tracking problem for general plants with bounded uncertainties in the L2 or L∞-induced norms. Namely, we determine a compensator that ensures an asymptotic convergence to zero of the tracking error. The analysis of the structure of a compensator that achieves this objective is addressed.

Published
2007

23. NONLINEAR UNKNOWN INPUT OBSERVER IN A STOCHASTIC FRAMEWORK

Author

Franck Plestan, T. Cheviron, H. Chriette, 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), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, Observer (quantum physics), business.industry, 020208 electrical & electronic engineering, Estimator, Control engineering, Context (language use), 02 engineering and technology, General Medicine, Computer Science::Robotics, Nonlinear system, Noise, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], State (computer science), State observer, business, ComputingMilieux_MISCELLANEOUS, Physics::Atmospheric and Oceanic Physics
Abstract

Under an existing approach, an unknown input observer is designed in deterministic context. The main purpose of this paper consists in analyzing observer performance in presence of both state/measurement noise by using a stochastic framework. This analysis allows to establish an optimal choice of observer gain, and is completed by simulations on a reduced model of an unmanned aerial vehicle for which wind gusts are unknown input. The improvement of controller performances of a light helicopter by using low-cost (noise) sensors and a wind gusts estimator is established.

Published
2007

24. A gain scheduled control law for fin/rudder roll stabilisation of ships

Author

Hervé Tanguy, Guy Lebret, 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), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, Fin, business.industry, MIMO, Control (management), 02 engineering and technology, Rudder, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Standard system, 020901 industrial engineering & automation, Control theory, Law, 0202 electrical engineering, electronic engineering, information engineering, Ship control, 020201 artificial intelligence & image processing, Representation (mathematics), business
Abstract

International audience; Taking into account the variations of the environment is a means of improving performances of roll stabilisation systems. The ship behaviour is modelled as a MIMO LPV system. A methodology is presented which leads to a gain-scheduled control law. The synthesis is based on multi objective optimisation, and on the representation of the standard system as a polytopical system, which depends on ship speed and on a stabilisation quality factor. Simulation results are given.

Published
2004

25. Disturbance Decoupling of Nonlinear Miso Systems by Static Measurement Feedback

Author

Richard Pothin, Xiaohua Xia, Claude H. Moog, Technocentre Renault [Guyancourt], RENAULT, 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), Department of Electrical, Electronic and Computer Engineering [Pretoria], and University of Pretoria [South Africa]

Subjects
0209 industrial biotechnology, Nonlinear system, 020901 industrial engineering & automation, Computer science, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Decoupling (probability), 02 engineering and technology, Decoupling (cosmology), Nonlinear control, Feedback passivation, ComputingMilieux_MISCELLANEOUS
Abstract

This paper highlights the role of the rank of a differential one-form in the solution of such nonlinear control problems via measurement feedback as disturbance decoupling problem of multi-input single output (MISO) systems. For the later problem, some necessary conditions and sufficient conditions are given.

Published
2001

Catalog

Books, media, physical & digital resources
See catalog results