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27 results on '"Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3)"'

1. Stabilization using shifted equilibria for saturated discrete-time linear systems⋆

Author

Braun, Philipp, Jungers, Marc, Zaccarian, Luca, Jungers, Marc, Australian National University (ANU), Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, Systems with saturation, Asymptotic stabilization, Control and Systems Engineering, discrete-time systems, semidefinite programming, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Lyapunov methods
Abstract

International audience; We discuss controller designs for asymmetric saturated discrete-time linear systems. Under the assumption that a locally stabilizing controller of the origin is known, we augment the original controller with an additional term that vanishes in a neighborhood of the origin. The augmented controller outperforms the original controller in terms of the estimate of the region of attraction. The paper translates the results discussed in Braun et al. (2022a,b), from the continuous-time setting to the discrete-time setting, and numerically verifies that the results derived for continuous-time systems are recovered if the discrete-time system is obtained through an Euler discretization of a continuous-time system with a sufficiently small sampling rate.

Published
2023

2. A note on the wave equation controlled with a dynamic saturating boundary control

Author

Gauvrit, Mario, Prieur, Christophe, Tarbouriech, Sophie, Ecole Normale Supérieure Paris-Saclay (ENS Paris Saclay), GIPSA - Infinite Dimensional Dynamics (GIPSA-INFINITY), GIPSA Pôle Automatique et Diagnostic (GIPSA-PAD), Grenoble Images Parole Signal Automatique (GIPSA-lab), Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Grenoble Alpes (UGA), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Jochen Trumpf, Robert Mahony, and ANR-19-P3IA-0003,MIAI,MIAI @ Grenoble Alpes(2019)

Subjects
well-posedness, Control and Systems Engineering, saturation, Infinite-dimensional systems, stability, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; This paper studies the nonlinear systems obtained by considering a wave equation in closed loop with a nonlinear dynamical boundary controller. The controller is subject to a magnitude limitation and modeled by a linear ordinary differential equation with a saturation map in the input. The well-posedness of the obtained infinite-dimensional system is first studied and then two stability results are given. These two stability results apply for two cascade cases and give sufficient conditions for the asymptotic stability of the equilibrium. The well-posedness is proven by using nonlinear semigroups techniques, whereas the global asymptotic stability results are obtained by Lyapunov-based arguments in infinite-dimensional state space.

Published
2023

3. Autonomous Wireless Sensors Network for the Implementation of a Cyber-Physical System Monitoring Reinforced Concrete Civil Engineering Structures

Author

Loubet, Gael, Sidibe, Alassane, Takacs, Alexandru, Dragomirescu, Daniela, Équipe MIcro et Nanosystèmes pour les Communications sans fil (LAAS-MINC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
Simultaneous Wireless Information, Cyber-Physical System (CPS), Power Transmission (SWIPT), Non-Destructive Testing (NDT), [SPI]Engineering Sciences [physics], Control and Systems Engineering, Wireless Sensors Network (WSN), Structural Health Monitoring (SHM), Wireless Power Transfer (WPT), Internet of Things (IoT)
Abstract

International audience; This paper presents an autonomous Wireless Sensors Network as the hardware basis for implementing a Cyber-Physical System. The Wireless Sensors Network is composed of Sensing Nodes and Communicating Nodes. The Sensing Nodes can wirelessly transmit data measured in reinforced concrete using Non-Destructive Testing methods over several tens of meters. These are battery-free, and are powered and controlled wirelessly and remotely by a radiative electromagnetic Wireless Power Transfer system tuned by the Communicating Nodes. Each Communicating Node covers a volume of at least 11 meters in all directions for the Wireless Power Transfer. The Wireless Sensors Network meets the requirements of the Simultaneous Wireless Information and Power Transmission paradigm by using a single antenna in the Sensing Nodes (concurrently for power harvesting and data transmission). The proposed system is designed for the Structural Health Monitoring of reinforced concrete civil engineering structures, but can be adapted to other applications, especially in harsh environments.

Published
2022

4. Materials communicating with the BIM: results of the McBIM project

Author

Derigent, William, David, Michaël, Wan, Hang, Dragomirescu, Daniela, Takacs, Alexandru, Loubet, Gael, Roxin, Ana, Melet, Rolland, Montegut, Laurent, Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Équipe MIcro et Nanosystèmes pour les Communications sans fil (LAAS-MINC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Laboratoire d'Informatique de Bourgogne [Dijon] (LIB), Université de Bourgogne (UB), Equipe Science des Données [LIB - EA 7534], Université de Bourgogne (UB)-Université de Bourgogne (UB), 360SmartConnect (360sc), and ANR-17-CE10-0014,McBIM,Matière communicante au service du BIM(2017)

Subjects
Digital Twin, Energy harvesting, Control and Systems Engineering, Product Lifecycle Monitoring, [INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS], Building Information Modelling, [INFO.INFO-LO]Computer Science [cs]/Logic in Computer Science [cs.LO], Interoperability, Wireless Sensor Network, [INFO.INFO-CL]Computer Science [cs]/Computation and Language [cs.CL]
Abstract

Published in IFAC-PapersOnLine, 55(8):25-30, 2022; International audience; In 2010, the Research Center for Automatic Control (CRAN) proposed the concept of “communicating materials”, which led to this current project. Indeed, 3 French laboratories (the CRAN, LAAS and LIB) associated with one company (360SmartConnect/FINAO SAS) are working in the framework of the McBIM project to design a “communicating concrete”, made of concrete equipped with embedded low-energy wireless micro-sensors. This paper briefly describes the context of the McBIM project with the main research goal and objectives and then focus on the results in the different parts of the project regarding the different research issues, explored by the project.

Published
2022

5. Anti-windup-like Compensator Synthesis for Discrete-Time Quantized Control Systems

Author

Alsamadi, S., Ferrante, F., Tarbouriech, S., IMT École nationale supérieure des Mines d'Albi-Carmaux (IMT Mines Albi), Institut Mines-Télécom [Paris] (IMT), Centre Génie Industriel (CGI), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Università degli Studi di Perugia = University of Perugia (UNIPG), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and Masaaki Kanno

Subjects
LMIs, [SPI]Engineering Sciences [physics], Quantized control, Optimization and Control (math.OC), Control and Systems Engineering, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, FOS: Mathematics, FOS: Electrical engineering, electronic engineering, information engineering, anti-windup like compensator design, Systems and Control (eess.SY), stability, Mathematics - Optimization and Control, Electrical Engineering and Systems Science - Systems and Control
Abstract

This paper addresses the problem of designing an anti-windup like compensator for discrete-time linear control systems with quantized input. The proposed compensator provides a correction signal proportional to the quantization error that fed to the controller. The compensator is designed to ensure that solutions to the closed-loop systems converge in finite time into a compact set containing the origin that can be tuned by the designer. A numerically tractable algorithm with feasibility guarantees is provided for the design of the compensator. The proposed results are illustrated on an academic example and an open-loop unstable aircraft system., Comment: Extended version of the conference paper. V1 is submitted for presentation at the 10th IFAC Symposium on Robust Control Design ROCOND 2022. V2 and V3, and V4 fix some minor oversights

Published
2022

6. Dynamic event-triggered stabilization for the Schrödinger equation

Author

Koudohode, Florent, Baudouin, Lucie, Tarbouriech, Sophie, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, and Tarbouriech, Sophie

Subjects
[PHYS]Physics [physics], Observability inequality, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Control and Systems Engineering, [INFO]Computer Science [cs], Schrödinger equation, Dynamic event-triggering mechanism, [MATH]Mathematics [math], Exponential stability, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; The paper presents a dynamic event-triggering mechanism for the constant and the localized damped linear Schrödinger equation. The following results are tackled: the existence of solution to the closed-loop event-triggered control system; the avoidance of the Zeno behavior due to the absence of any accumulation point of the sequence of time instants and the exponential stability based on energy estimate through the observability inequality. A simulation example based on the one-dimensional Schrödinger equation is presented to validate the theoretical results.

Published
2022

7. Open wind tunnel experiments of the DarkO tail-sitter longitudinal stabilization with constant wind

Author

Sansou, Florian, Demourant, Fabrice, Hattenberger, Gautier, Loquen, Thomas, Zaccarian, Luca, ENAC - Equipe Optim (OPTIM), Ecole Nationale de l'Aviation Civile (ENAC), ONERA / DTIS, Université de Toulouse [Toulouse], ONERA-PRES Université de Toulouse, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
Control and Systems Engineering, Hovering, Linear robust control, UAVs, Tail-sitter, UAVs Tail-sitter Hovering Linear robust control, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; We describe an experimental platform for testing the DarkO tail-sitter drone in an open wind tunnel experiment. The DarkO convertible UAV is developed and 3D printed at the Ecole Nationale de l'Aviation Civile (ENAC), in Toulouse (France). The objective of the experimental platform is to allow testing control laws in a realistic and secure context. We propose a test bench with a single degree of freedom corresponding to the drone pitch axis. We design a linear proportional/integral feedback hovering stabilizer in the presence of constant wind, and we illustrate its effectiveness in stabilizing a hovering position through experimental results.

Published
2022

8. Synchronization on a limit cycle of multi-agent systems governed by discrete-time switched affine dynamics

Author

Mathias Serieye, Alexandre Seuret, Carolina Albea, Marc Jungers, Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla. TEP102: Ingeniería Automática y Robótica, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Universidad de Sevilla, Centre de Recherche en Automatique de Nancy (CRAN), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), Proyecto de investigación PID2019-105890RJ-I00 (Project HYCAM), ANR-18-CE40-0022,HISPALIS,Systèmes multi-agents hybrides auto-ajustés pour microgrids(2018), ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Universidad de Sevilla / University of Sevilla, and Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Consensus, Stabilization of nonlinear systems, Complete graph, Computer science, Group (mathematics), Multi-agent system, Multi-agent systems, 020208 electrical & electronic engineering, Synchronizing, Control of switched systems, 02 engineering and technology, Topology, Synchronization, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Discrete time and continuous time, Control and Systems Engineering, Limit cycle, 0202 electrical engineering, electronic engineering, information engineering, Affine transformation, State synchronization, Lyapunov methods
Abstract

International audience; This paper addresses the problem of synchronizing a group of interacting discrete-time switched affine systems with centralized control laws. A first time-dependent control law is obtained directly, and then, two other state-dependent control laws are proposed to improve performance. The different methods are based on recent literature on switched affine systems and are evaluated on an academical example with a multi-agent system.

Published
2021

9. Energy-based design of dynamic allocation in the presence of saturating actuators

Author

T. Alves Lima, Sophie Tarbouriech, Fabricio Gonzalez Nogueira, Bismark Claude Torrico, Universidade Federal do Ceará = Federal University of Ceará (UFC), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)

Subjects
Scheme (programming language), Computer science, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], Stability (learning theory), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Loop (topology), Allocator, Control and Systems Engineering, Control theory, State (computer science), Minification, Actuator, computer, Energy (signal processing), computer.programming_language
Abstract

Cette communication devait être présentée au congrès "24th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2020)" qui a été annulé. Reporté en 2021; International audience; This paper addresses the design of dynamic allocation functions for systems with saturating actuators. The novelty of the proposal relies on the use of an anti-windup loop to drive the state of the allocator, which in some sense dynamically compensates the difference between the computed control signal and the plant input. Furthermore, the co-design of the allocator and anti-windup loop is presented, allowing to deal with the multiple objective of reducing the allocator error and increasing the closed-loop region of stability. Theoretical conditions are derived in terms of linear matrix inequalities (LMIs) and an optimization scheme consisting in the minimization of the energy of the allocator error is proposed. Two examples borrowed from the literature illustrate the proposed technique and show its effectiveness.

Published
2021

10. The Hankel-Type L/L Induced Norms of Positive Systems Across Switching

Author

Dimitri Peaucelle, Denis Arzelier, Yoshio Ebihara, Kyushu University, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
0209 industrial biotechnology, Linear programming, 020208 electrical & electronic engineering, Zero (complex analysis), linear programming, 02 engineering and technology, semidefinite programming, Type (model theory), Positive systems, 020901 industrial engineering & automation, Hankel-type L q /L p induced norm, Control and Systems Engineering, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Norm (mathematics), 0202 electrical engineering, electronic engineering, information engineering, Applied mathematics, switched positive system, Mathematics, Parametric statistics
Abstract

International audience; The Hankel-type L q /L p induced norms across a single switching over two linear timeinvariant (LTI) positive systems are discussed. The norms are defined as the induced norms from vector-valued L p-past inputs to vector valued L q-future outputs across a switching at the time instant zero. The Hankel-type L 2 /L 2 induced norm across a single switching for general LTI systems is studied in details to evaluate the performance deterioration caused by switching. Thanks to the strong positivity property, we successfully characterize the Hankel-type L q /L p induced norms for the positive system switching even for p, q being 1, 2, ∞. In particular, we will show that some of them are given in the form of linear program (LP) and semidefinite program (SDP). The SDP-based characterizations are useful for the analysis of the Hankel-type L q /L p induced norms where the systems of interest are affected by parametric uncertainties.

Published
2020

11. Hybrid model formulation and stability analysis of a PID-controlled motion system with Coulomb friction

Author

Henk Nijmeijer, Luca Zaccarian, N. van de Wouw, Andrea Bisoffi, R. Beerens, Wpmh Maurice Heemels, Royal Institute of Technology [Stockholm] (KTH ), Eindhoven University of Technology [Eindhoven] (TU/e), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées

Subjects
Lyapunov function, 0209 industrial biotechnology, Hybrid systems, Computer science, hybrid systems, nonlinear systems, Coulomb friction, Lyapunov methods, global asymptotic stability, PID control, PID controller, 02 engineering and technology, Slip (materials science), [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, 020901 industrial engineering & automation, Differential inclusion, Exponential stability, Control theory, PID control, 0202 electrical engineering, electronic engineering, information engineering, Nonlinear systems, Hybrid automaton, Lyapunov methods, Global asymptotic stability, 020208 electrical & electronic engineering, Coulomb friction, Nonlinear system, Control and Systems Engineering, Hybrid system, symbols, Motion system
Abstract

International audience; For a PID-controlled motion system under Coulomb friction described by a differential inclusion, we present a hybrid model comprising logical states indicating whether the closed loop is in stick or in slip, thereby resembling a hybrid automaton. A key step for this description is the addition of a timer exploiting a peculiar semiglobal dwell time of the original dynamics, which then removes defective and unwanted nonconverging Zeno solutions from the hybrid model. Through it, we then revisit an existing proof of global asymptotic stability, which is significantly simplified by way of a smooth weak Lyapunov function. The relevance of the proposed hybrid representation is also illustrated on a novel control strategy resetting the PID integrator and hinging upon the proposed hybrid model.

Published
2019

12. An Event-Triggered Predictive Controller for Spacecraft Rendezvous Hovering Phases

Author

Francisco Gavilan, Julio C. Sanchez, Rafael Vazquez, Christophe Louembet, Universidad de Sevilla. Departamento de Ingeniería Aeroespacial y Mecánica de Fluidos, Departamento de Ingenierı́a Aeroespacial, Universidad de Sevilla, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Departamento de Ingenieria Aeroespacial [Sevilla], Universidad de Sevilla, Laboratoire d'analyse et d'architecture des systèmes [Toulouse] (LAAS), Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UPS), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique [Toulouse] (INP)-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UPS), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique [Toulouse] (INP), Department of Aerospace Engineering, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and Universidad de Sevilla / University of Sevilla

Subjects
0209 industrial biotechnology, Elliptic orbit, Spacecraft, Computer science, business.industry, 020208 electrical & electronic engineering, Work (physics), Predictive controller, 02 engineering and technology, 7. Clean energy, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Model predictive control, 020901 industrial engineering & automation, Impulsive control, Control and Systems Engineering, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Spacecraft rendezvous, Physics::Space Physics, 0202 electrical engineering, electronic engineering, information engineering, Fuel efficiency, Event-triggered control, Predictive control, business
Abstract

International audience; This work presents an event-triggered model predictive controller for spacecraft hovering phases. The target is assumed to be inert on its an elliptic orbit whereas the chaser has impulsive thrusters. The main goal is to design a local controller based on event-triggering principle to maintain the spacecraft inside a given hovering region while minimizing fuel consumption and avoiding unnecessary small amplitude firings. Using hybrid impulsive systems theory and reachability analysis, the invariance of the proposed method is studied. Simulation results are shown and discussed.

Published
2019

13. Timed pattern diagnosis in timed workflows: a model checking approach

Author

Yannick Pencolé, Audine Subias, Équipe DIagnostic, Supervision et COnduite (LAAS-DISCO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées

Subjects
Model checking, 0209 industrial biotechnology, Sequence, Theoretical computer science, Event (computing), Reachability problem, Computer science, Time Petri Net, 02 engineering and technology, 020901 industrial engineering & automation, Workflow, Control and Systems Engineering, 020204 information systems, Diagnosis, 0202 electrical engineering, electronic engineering, information engineering, [INFO]Computer Science [cs], Pattern matching, Timed Pattern
Abstract

International audience; In this article we introduce the problem of timed pattern diagnosis in timed system and propose a method to solve a sub-class of theses problems: the problem of timed pattern diagnosis of workflows. It consists in searching for all the possible evolutions of the workflow that are consistent with a timed sequence of observations and determining whether these evolutions match a pattern of timed events instead of a single fault event. The formal characterization of the diagnosis problem is based on the notion of pattern matching. Defined as a reachability problem, the diagnosis problem is then solved by model checking.

Published
2018

14. Affine Versus Multi-Affine Models for S-Variable LMI Conditions

Author

Yoshio Ebihara, Dimitri Peaucelle, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Kyoto University, Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, and Kyoto University [Kyoto]

Subjects
Polytopic uncertainties, LMIs, 0209 industrial biotechnology, Mathematical optimization, Computer science, 02 engineering and technology, S-variables, 020901 industrial engineering & automation, Control and Systems Engineering, Robustness (computer science), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Affine transformation, Robustness, Descriptor systems
Abstract

International audience; This short paper aims at discussing and comparing LMI results built using the S-variable approach starting from equivalent yet different representations of uncertain systems. Using the fact that S-variable results are well suited to handle descriptor systems and that descriptor system modeling is very versatile, we compare results in terms of the impact of modeling on the computational burden and on conservatism. Multi-affine representations allow reduced numerical burden while affine representations lead to less conservative results. Numerical examples show that conservatism reduction is not systematic, but is in some cases quite significant without major increase of the numerical burden.

Published
2018

15. Decentralized Diagnosis via Structural Analysis and Integer Programming

Author

Christian Artigues, Louise Travé-Massuyès, C.G. Perez-Zuñiga, Javier Sotomayor, Elodie Chanthery, Pontificia Universidad Católica del Perú (PUCP), Équipe DIagnostic, Supervision et COnduite (LAAS-DISCO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Équipe Recherche Opérationnelle, Optimisation Combinatoire et Contraintes (LAAS-ROC), Pontificia Universidad Católica del Perú = Pontifical Catholic University of Peru (PUCP), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
0209 industrial biotechnology, Mathematical optimization, Computer science, 02 engineering and technology, Structural Analysis, Fault (power engineering), Residual, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Set (abstract data type), Overdetermined system, Decentralized Systems, 020901 industrial engineering & automation, Fluid power, Control and Systems Engineering, Model Based Diagnosis, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Integer programming
Abstract

International audience; Centralized fault diagnosis architectures are sometimes prohibitive for large-scale interconnected systems such as distribution systems, telecommunication networks, water distribution networks, fluid power systems. This paper presents a decentralized fault diagnosis method for continuous systems that only requires the knowledge of local models and limited knowledge of their neighboring subsystems. The notion of Fault-Driven Minimal Structurally Overdetermined (FMSO) set is used as the corner stone of the design of residual generators for the design of decentralized fault diagnosis for systems that have constraints of confidentiality, distance or limited access to some information. Binary integer linear programming (BILP) is used to optimize the choice of FMSO sets in each local subsystem.

Published
2018

16. Chronicle Discovery for Diagnosis from Raw Data: A Clustering Approach

Author

Euriell Le Corronc, Alexandre Sahuguède, Marie-Véronique Le Lann, Équipe DIagnostic, Supervision et COnduite (LAAS-DISCO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées

Subjects
Test data generation, Computer science, Process (engineering), [INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS], 0102 computer and information sciences, 02 engineering and technology, Fault (power engineering), computer.software_genre, 01 natural sciences, Clustering, GeneralLiterature_MISCELLANEOUS, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Domain (software engineering), Machine Learning, 0202 electrical engineering, electronic engineering, information engineering, [INFO]Computer Science [cs], Chronicle Discovery, Cluster analysis, Representation (mathematics), Event (computing), Fault Diagnosis, Temporal Pattern Mining, 010201 computation theory & mathematics, Control and Systems Engineering, 020201 artificial intelligence & image processing, Data mining, Raw data, computer
Abstract

International audience; Chronicles are temporal patterns well suited for an abstract representation of the behavior of dynamic systems. For fault diagnosis, chronicles describe the nominal and faulty behaviors of the process. Powerful algorithms allow the recognition of chronicles in the flow of observations of the system and appropriate actions can be taken when a faulty situation is recognized. However, designing chronicles is not a trivial thing to do. The increasing complexity and capacity of data generation of highly-advanced processes cause the acquisition of a complete model difficult. This paper focuses on the problem of discovering chronicles that are representative of a system behavior from direct observations. A clustering approach to this problem is considered. The chronicle discovery algorithm proposed here designs chronicles with minimal knowledge of the system to diagnose. Furthermore, unprocessed data obtained directly from the system can be used in this clustering algorithm. Finally, the chronicle discovery algorithm proposed in this paper is illustrated on a sport performance monitoring device for a diagnosis of movement deviations in the temporal domain, in the event domain, or both, considered as faults for the athlete.

Published
2018

17. Model predictive control for rendezvous hovering phases based on a novel description of constrained trajectories

Author

Mioara Joldes, Frederic Camps, Paulo Ricardo Arantes Gilz, Christophe Louembet, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Service Informatique : Développement, Exploitation et Assistance (LAAS-IDEA), ANR-14-CE25-0018,Fast Relax,Approximation rapide et fiable(2014), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
0209 industrial biotechnology, Engineering, 02 engineering and technology, Space (mathematics), 7. Clean energy, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, FPGA embedded control law, Aerospace, 020301 aerospace & aeronautics, Model predictive and optimization-based control, business.industry, Rendezvous, Convex optimization, Model predictive control, Control and Systems Engineering, Family of curves, Navigation and control of vehicles, Fuel efficiency, Guidance, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business, Envelope (motion)
Abstract

International audience; The present article proposes a predictive control law for orbital spacecraft rendezvous hovering phases. An innovative description of periodic space-restricted trajectories based on computing the envelope of a family of curves is given. This description is used to provide a model predictive controller able to minimize the fuel consumption and account convex constraints, such as periodicity, saturation of the thrusters and space restrictions. The efficiency of this control algorithm is assessed on a board simulating the performance of devices usually employed in space applications.

Published
2017

18. Formal Framework for Discrete-Event Simulation

Author

Vincent Albert, Clément Foucher, Équipe Ingénierie Système et Intégration (LAAS-ISI), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
0209 industrial biotechnology, Correctness, Computer architecture simulator, Computer science, Formal methods, Distributed computing, MBSE, 020208 electrical & electronic engineering, Time Petri Net, 02 engineering and technology, Petri net, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Parallel simulator, 020901 industrial engineering & automation, Control and Systems Engineering, Software deployment, Formal specification, Transition system, 0202 electrical engineering, electronic engineering, information engineering, Discrete-event simulation, Discrete event simulation, Formal verification, Simulation
Abstract

International audience; A formal framework for modelling and simulation of parallel systems named ProjectDEVS is presented. The objective of this framework is to apply a Model-Based System Engineering approach to the development of simulation products for cyber-physical embedded systems. It is intended for the design and automated deployment of virtual prototypes. Models are constructed by coupling concurrent components exchanging data through ports and executed by various simulation schemes, namely simulators. This paper focuses on the integration of a Time Petri Net implementation of a parallel simulator into the framework. The semantics of the parallel simulator is formally described using timed transition system to verify the correctness of the implementation. Then, a model with its simulator can be model checked against formal specification and be rapidly deployed on FPGA or PC via code generators.

Published
2017

19. Nonlinear Control of Multi-Rotor Aerial Vehicles Based on the Zero-Moment Direction

Author

Angelo Cenedese, Giulia Michieletto, Luca Zaccarian, Antonio Franchi, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Universita degli Studi di Padova, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and Università degli Studi di Padova = University of Padua (Unipd)

Subjects
0209 industrial biotechnology, Engineering, Angular velocity, 02 engineering and technology, UAVs, Nonlinear control, law.invention, 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, Position (vector), law, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Convergence (routing), [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Quaternion, 020301 aerospace & aeronautics, business.industry, Rotor (electric), UAVs, nonlinear feedback control, hovering, hovering, Moment (mathematics), aerial vehicles, Control and Systems Engineering, nonlinear feedback control, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business
Abstract

accepted to the 20th IFAC World Congress, Toulouse, France (2017); International audience; A quaternion-based nonlinear control strategy is here presented to steer and keep a generic multi-rotor platform in a given reference position. Exploiting a state feedback structure, the proposed solution ensures the stabilization of the aerial vehicle so that its linear and angular velocity are zero and its attitude is constant. The main feature of the designed controller is the identification of a zero-moment direction in the feasible force space, i.e., a direction along which the control force intensity can be assigned independently of the control moment. The asymptotic convergence of the error dynamics is confirmed by simulation results on a hexarotor with tilted propellers.

Published
2017

20. Solving Diagnosability of Hybrid Systems via Abstraction and Discrete Event Techniques

Author

Vicenç Puig, Alban Grastien, Louise Travé-Massuyès, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, National ICT Australia [Sydney] (NICTA), Équipe DIagnostic, Supervision et COnduite (LAAS-DISCO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, SAC - Advanced Control Systems Group, Universitat Politècnica de Catalunya [Barcelona] (UPC), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
030213 general clinical medicine, 0209 industrial biotechnology, Hybrid systems, Informàtica::Automàtica i control [Àrees temàtiques de la UPC], hybrid systems discrete event systems, 02 engineering and technology, Diagnosability, Invariant sets, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Event model, Set (abstract data type), 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Informàtica [Àrees temàtiques de la UPC], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Sistemes híbrids, Anàlisi de sistemes, Sistemes de temps discret, Mathematics, Abstraction (linguistics), Event (probability theory), Automatic control, Discrete event system, Continuous modelling, 16. Peace & justice, Control automàtic, Discrete event systems DES, Control and Systems Engineering, Hybrid system, Discrete-time systems, discrete event systems, Algorithm, Counterexample
Abstract

International audience; This paper addresses the problem of determining the diagnosability of hybrid systems by abstracting hybrid models to a discrete event setting. From the continuous model the abstraction only remembers two pieces of information: indiscernability between modes (when they are guaranteed to generate different observations) and ephemerality (when the system cannot stay forever in a given set of modes). Then, we use standard discrete event system diagnosability algorithms. The second contribution is an iterative approach to diagnosability that starts from the most abstract discrete event model of the hybrid system. If it is diagnosable, that means that the hybrid system is diagnosable. If it is not, the counterexample generated by the diagnosability procedure is analysed to refine the DES. If no refinement is found, then it can not be proved that the hybrid system is diagnosable. Otherwise, the refinement is included in the abstract DES model and the diagnosability procedure continues.

Published
2017

21. Interval Kalman filter enhanced by positive definite upper bounds

Author

Françoise Le Gall, Louise Travé-Massuyès, Carine Jauberthie, Tuan Anh Tran, Équipe DIagnostic, Supervision et COnduite (LAAS-DISCO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
0209 industrial biotechnology, Covariance matrices, 020206 networking & telecommunications, 02 engineering and technology, Kalman filter, Covariance intersection, Covariance, Gaussian noise, Invariant extended Kalman filter, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Extended Kalman filter, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Uncertain linear systems, 0202 electrical engineering, electronic engineering, information engineering, Interval analysis, Applied mathematics, Fast Kalman filter, Ensemble Kalman filter, Alpha beta filter, Mathematics
Abstract

International audience; A method based on the interval Kalman filter for discrete uncertain linear systems is presented. The system under consideration is subject to bounded parameter uncertainties not only in the state and observation matrices, but also in the covariance matrices of Gaussian noises. The gain matrix provided by the filter is optimized to give a minimal upper bound on the state estimation error covariance for all admissible uncertainties. The state estimation is then determined by using interval analysis in order to enclose the set of all possible solutions with respect to the classical Kalman filtering structure.

Published
2017

22. Formation Control of Mobile Robots Based on Interconnected Positive Systems

Author

Yoshio Ebihara, Hiroyuki Ichihara, Dimitri Peaucelle, Shinya Kajihara, Meiji University [Tokyo], Kyoto University [Kyoto], Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Kyoto University, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
0209 industrial biotechnology, Computer science, 020208 electrical & electronic engineering, Control (management), Linear system, Control engineering, Mobile robot, 02 engineering and technology, Positive systems, Computer Science::Robotics, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Robot, Feedback linearization
Abstract

International audience; This paper deals with formation control of mobile robots based on interconnected positive systems with SISO subsystems where each robot has a nonlinear dynamics of a MIMO subsystem. To linearize the dynamics, this paper introduces a virtual vehicle of the robot. Then a feedback linearization and a local feedback law transform each dynamics of the virtual vehicle into two SISO positive and stable linear systems. Consequently, the dynamics of the virtual vehicles satisfy the properties of the interconnected positive systems. Experimental results as well as numerical examples including leader-follower formation control for the mobile robots are illustrated.

Published
2017

23. V-bar and R-bar Glideslope Guidance Algorithms for Fixed-Time Rendezvous: A Linear Programming Approach

Author

Denis Arzelier, Christophe Louembet, Laura Sofia Urbina, Yassine Ariba, Institut Catholique d'Arts et Métiers (ICAM), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse III - Paul Sabatier (UT3), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
020301 aerospace & aeronautics, 0209 industrial biotechnology, Linear programming, Degrees of freedom (statistics), Rendezvous, linear programming, Context (language use), 02 engineering and technology, Expression (computer science), circular rendezvous, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, 0203 mechanical engineering, Glideslope approach, Control and Systems Engineering, Control theory, Bounded function, impulsive control, Hill-Clohessy-Wiltshire equations, Circular orbit, Algorithm, Rendezvous problem, Mathematics
Abstract

International audience; This paper presents minimum-fuel glideslope autonomous guidance algorithms for approaching a target evolving on a circular orbit. In the context of a chemical propulsion, the classical multipulse glideslope algorithm of Hablani is revisited and it is shown that when considering specific common directions for the glideslope such as V-bar and R-bar directions, a linear formulation of the circular minimum-fuel linearized rendezvous problem may be deduced. Unlike the classical glideslope algorithm for which there is no direct control on the fuel consumption, additional degrees of freedom and relevant decision variables may be identified by combining an analytical expression for the maximal guidance error and Hill-Clohessy-Wiltshire relative equations of motion. For a fixed-time rendezvous with a pre-assigned number of maneuvers, a fuel-optimal solution with a bounded guidance error is obtained by solving a linear programming problem. Numerical examples demonstrate the usefulness of the approach with respect to the classical ones when the approach corridor has to fulfill stringent geometrical restrictions such as line-of-sight constraints.

Published
2016

24. Invariant based control of induction and maintenance phases for anesthesia

Author

Mirko Fiacchini, Sophie Tarbouriech, Isabelle Queinnec, Michel Mazerolles, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Service d'Anesthésie - Réanimation, Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-CHU Toulouse [Toulouse]-Hôpital de Rangueil, CHU Toulouse [Toulouse], IFAC, ANR-12-BS03-0005,LimICoS,Synthèse et analyse des systèmes avec informations limitées(2012), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and Université de Toulouse (UT)-Université de Toulouse (UT)-Centre Hospitalier Universitaire de Toulouse (CHU Toulouse)

Subjects
0209 industrial biotechnology, biomedical systems, business.industry, Quantitative Biology::Tissues and Organs, Physics::Medical Physics, 0206 medical engineering, Control (management), Control engineering, Induction Phase, 02 engineering and technology, Surgical operation, 020601 biomedical engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, computational methods, 020901 industrial engineering & automation, Control and Systems Engineering, Anesthesia, Maintenance phase, Medicine, Set theory, constrained control, business, Invariant (computer science)
Abstract

International audience; Set theory and invariant sets are the key ingredients used in this paper to address the control problem of general anesthesia. The paper is dedicated to adapt such tools in order to validate the multi-phase control law used in practice from the induction phase corresponding to the administration of an open-loop bolus dose to the maintenance phase of the depth of hypnosis during the surgical operation.

Published
2016

25. Linearized Impulsive Fixed-Time Fuel-Optimal Space rendezvous: A New Numerical Approach

Author

Romain Serra, Mioara Joldes, Florent Bréhard, Denis Arzelier, Christophe Louembet, Norbert Deak, Aude Rondepierre, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Institut de Mathématiques de Toulouse UMR5219 (IMT), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3), and Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)

Subjects
primer vector, 0209 industrial biotechnology, 021103 operations research, Spacecraft, Discretization, semi-infinite convex programming, business.industry, discretization methods, 0211 other engineering and technologies, Rendezvous, 02 engineering and technology, Impulsive optimal control, 16. Peace & justice, Optimal control, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Convex optimization, elliptic rendezvous, Relaxation (approximation), business, Rendezvous problem, Mathematics, Space rendezvous
Abstract

International audience; This paper focuses on the fixed-time minimum-fuel rendezvous between close elliptic orbits of an active spacecraft with a passive target spacecraft, assuming a linear impulsive setting and a Keplerian relative motion. Following earlier works developed in the 1960s, the original optimal control problem is transformed into a semi-infinite convex optimization problem using a relaxation scheme and duality theory in normed linear spaces. A new numerical convergent algorithm based on discretization methods is designed to solve this problem. Its solution is then used in a general simple procedure dedicated to the computation of the optimal velocity increments and optimal impulses locations. It is also shown that the semi-infinite convex programming has an analytical solution for the out-of-plane rendezvous problem. Different realistic numerical examples illustrate these results.

Published
2016

26. Process modeling of innovative design using Systems Engineering

Author

Emmanuel Caillaud, Qiang Zhang, Claude Baron, Christophe Lerch, Ioana Deniaud, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Matériaux et nanosciences d'Alsace, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM), Bureau d'Économie Théorique et Appliquée (BETA), Institut National de la Recherche Agronomique (INRA)-Université de Strasbourg (UNISTRA)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Équipe Ingénierie Système et Intégration (LAAS-ISI), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J), Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Université de Lorraine (UL)-Université de Strasbourg (UNISTRA)-Institut National de la Recherche Agronomique (INRA)-Centre National de la Recherche Scientifique (CNRS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3)

Subjects
[SPI.OTHER]Engineering Sciences [physics]/Other, Standards, Engineering, Process modeling, Control (management), Innovative design, Context (language use), Systems engineering, [SHS]Humanities and Social Sciences, Order (exchange), 0502 economics and business, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Product (category theory), ComputingMilieux_MISCELLANEOUS, business.industry, 05 social sciences, 050301 education, Requirements, [SHS.ECO]Humanities and Social Sciences/Economics and Finance, Control and Systems Engineering, Design process, business, Engineering design process, 0503 education, 050203 business & management
Abstract

International audience; In the current context of increasing time-to-market pressure, innovation has been identified as the major factor of competitiveness. The need to manufacture more new products with restricted resources urges companies to perform innovative design. To be efficient and reduce uncertainty it is necessary to control the design process. In order to simultaneously control and innovate, a new model to manage the design process is required. Within the framework of Systems Engineering, we propose a static design model, which takes into account requirements related to the product, the design process and the organization. Based on this static design model, a dynamic model of innovative design process is developed. It emphasizes the importance to conciliate different requirements to produce innovative products.

Published
2016

27. R-RoMulOC: A unified tool for randomized and robust multiobjective control

Author

Dimitri Peaucelle, Roberto Tempo, Fabrizio Dabbene, Mohammadreza Chamanbaz, Arak University of Technology, Institute of Electronics, Computer and Telecommunication Engineering (IEIIT-CNR), Politecnico di Torino = Polytechnic of Turin (Polito)-Consiglio Nazionale delle Ricerche [Torino] (CNR), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, CNR Institute of Electronics, Computer and Telecommunication Engineering [Torino] (CNR | IEIIT), CNR Istituto di elettronica e di ingegneria dell'informazione e delle telecomunicazioni (CNR | IEIIT), National Research Council of Italy | Consiglio Nazionale delle Ricerche (CNR)-National Research Council of Italy | Consiglio Nazionale delle Ricerche (CNR), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
0209 industrial biotechnology, Engineering, Control (management), MathematicsofComputing_NUMERICALANALYSIS, Randomized methods, 010103 numerical & computational mathematics, 02 engineering and technology, Robust control, randomized methods, systems with uncertainties, LMIs, Machine learning, computer.software_genre, 01 natural sciences, 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Probabilistic analysis of algorithms, 0101 mathematics, MATLAB, ComputingMilieux_MISCELLANEOUS, computer.programming_language, business.industry, Control engineering, Toolbox, Range (mathematics), Control and Systems Engineering, Salient, Artificial intelligence, business, computer
Abstract

In this paper, we describe the salient features of a newly released toolbox for Matlab in dealing with systems with uncertainties. The toolbox combines classical robust multiobjective design techniques with the recently developed randomized approach, providing to the user a wide range of tools for performing deterministic and probabilistic analysis and design.

Published
2015

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