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1. Hamiltonian point of view on parallel interconnection of buck converters

Author

Jean-Yves Gauthier, Jérémie Kreiss, Romain Delpoux, Xuefang Lin-Shi, Damien Eberard, Jean-Francois Tregouet, Ampère, Département Automatique pour l'Ingénierie des Systèmes (AIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)

Subjects
0209 industrial biotechnology, Computer science, power system control, 02 engineering and technology, Inductor, Topology, 7. Clean energy, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Frequency separation, law, 0202 electrical engineering, electronic engineering, information engineering, Electrical and Electronic Engineering, Hamiltonian systems, Interconnection, Buck converter, 020208 electrical & electronic engineering, Converters, robust energy shaping control, Capacitor, Control and Systems Engineering, Voltage regulation, DC–DC power converters, Hamiltonian (control theory), robust control
Abstract

International audience; In this article, parallel interconnection of dc/dc converters is considered. For this topology of converters feeding a common load, it has been recently shown that dynamics related to voltage regulation can be completely separated from the current distribution without considering frequency separation arguments, which inevitably limits achievable performance. Within the Hamiltonian framework, this article shows that this separation between current distribution and voltage regulation is linked to the energy conservative quantities: the Casimir functions. Furthermore, a robust control law is given in this framework to get around the fact that the load might be unknown. In this article, we also ensure that the system converges to the optimal current repartition, without requiring explicit expression of the optimal locus. Finally, resulting control law efficiency is assessed through experimental results.

Published
2021
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2. Closed-loop active reduction of aerodynamic drag on a bluff Ahmed body based on extremum seeking technique

Author

Kévin Mariette, Eric Bideaux, Federico Bribiesca Argomedo, Damien Eberard, Sylvie Sesmat, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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), Mariette, Kévin, 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)-École Centrale de Lyon (ECL), and 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)

Subjects
[INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], [PHYS.PHYS.PHYS-FLU-DYN]Physics [physics]/Physics [physics]/Fluid Dynamics [physics.flu-dyn], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [PHYS.PHYS.PHYS-FLU-DYN] Physics [physics]/Physics [physics]/Fluid Dynamics [physics.flu-dyn], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2020

3. Strictly Proper Control Design for the Stabilization of 2×2 Linear Hyperbolic ODE-PDE-ODE Systems

Author

Federico Bribiesca-Argomedo, David Bou Saba, Michael Di Loreto, Damien Eberard, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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)-École Centrale de Lyon (ECL), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)

Subjects
0209 industrial biotechnology, Computer science, Control (management), Structure (category theory), Ode, MathematicsofComputing_NUMERICALANALYSIS, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, Backstepping, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC]
Abstract

International audience; In this paper, we consider the problem of L 2exponential stabilization of a coupled ODE-hyperbolic PDE-ODE system, where actuation is available through one ODE. Based on the backstepping technique, the system is mapped into an equivalent delay form which allows for the construction of a strictly proper controller realized as a full-state feedback. The result extends previous control designs, lifting some restrictions on the structure of the ODEs under consideration and guaranteeing a non-zero delay margin for the closed-loop system.

Published
2019
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4. An Energy-Based Approach for n-dof Passive Dual-user Haptic Training Systems

Author

Arnaud Lelevé, Tanneguy Redarce, Fei Liu, Minh Tu Pham, Damien Eberard, Angel Ricardo Licona, Center for Micro-BioRobotics (IIT@SSSA), Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)

Subjects
0209 industrial biotechnology, Hands-on Training, Computer science, General Mathematics, media_common.quotation_subject, Training system, Stability (learning theory), Context (language use), 02 engineering and technology, Haptic interfaces, Shared Control, Task (project management), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Relevance (information retrieval), Computer Simulation, Function (engineering), Simulation, media_common, Haptic technology, Port-Hamiltonian Framework, Dual-user System, DUAL (cognitive architecture), Computer Science Applications, Control and Systems Engineering, Dual User System, 030217 neurology & neurosurgery, Software
Abstract

SUMMARYThis paper introduces a dual-user training system whose design is based on an energetic approach. This kind of system is useful for supervised hands-on training where a trainer interacts with a trainee through two haptic devices, in order to practice on a manual task performed on a virtual or teleoperated robot (e.g., for an Minimally Invasive Surgery (MIS) task in a surgical context). This paper details the proof of stability of an Energy Shared Control (ESC) architecture we previously introduced for one degree of freedom (d.o.f.) devices. An extension to multiple degrees of freedom is proposed, along with an enhanced version of the Adaptive Authority Adjustment function. Experiments are carried out with 3 d.o.f. haptic devices in free motion as well as in contact contexts in order to show the relevance of this architecture.

Published
2019
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5. Sufficient stability condition for delayed Port-Hamiltonian systems subject to input saturation

Author

Warody Lombardi, Said Aoues, Damien Eberard, Alexandre Seuret, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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), Commissariat à l'énergie atomique et aux énergies alternatives - Laboratoire d'Electronique et de Technologie de l'Information (CEA-LETI), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA), 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 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)-École Centrale de Lyon (ECL), 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), 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
0209 industrial biotechnology, Linear matrix inequality, Port (circuit theory), 02 engineering and technology, Stability (probability), Hamiltonian system, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Bounded function, 0202 electrical engineering, electronic engineering, information engineering, Symmetric matrix, Applied mathematics, 020201 artificial intelligence & image processing, Stability of nonlinear systems, Reduction (mathematics), H2/H-infinity methods, Mathematics, Numerical stability, Lyapunov methods
Abstract

International audience; This work deals with a class of delayed port-Hamiltonian systems with control law given as a bounded output feedback. A sufficient stability condition of the resulting closed-loop dynamics is obtained combining Wirtinger-based integral inequality and Lyapunov-Krasovkii theorem. This condition is formulated in terms of (parametrized) linear matrix inequality. A numerical example shows reduction of the conservatism regarding literature result.

Published
2018

6. Bond graph modeling and analysis of intermediary cooling system of a nuclear power plants

Author

Minh Tu Pham, Damien Eberard, Toufik Bentaleb, Wilfrid Marquis-Favre, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)

Subjects
Physical model, bond graph model, Power station, Computer science, 020206 networking & telecommunications, Control engineering, 02 engineering and technology, Static analysis, Mechatronics, Interpretation (model theory), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 0202 electrical engineering, electronic engineering, information engineering, nuclear power plants, 020201 artificial intelligence & image processing, State (computer science), Error detection and correction, Bond graph, intermediary cooling system
Abstract

International audience; This paper presents a bond graph (BG) model and a physical structural analysis of an intermediary cooling system of a power plant. The main goal is to extend the techniques already in use for the physical structural analysis of mechatronic systems to perform static analysis and diagnosis on physical models in order to state whether they are well-posed and suitable for each step of the system's lifecycle (from its design to its operation). If a problem for modeling, for simulating or for solving the given engineering question is detected, the analysis shall localize the problem in the model and give the physical interpretation of the error. The objective is not to be able to diagnose all possible physical errors, but to add another type of analysis in order to improve error detection before compiling and running a model.

Published
2018
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7. Backstepping Stabilization of 2×2 Linear Hyperbolic PDEs Coupled with Potentially Unstable Actuator and Load Dynamics

Author

Damien Eberard, Federico Bribiesca-Argomedo, David Bou Saba, Michael Di Loreto, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)

Subjects
0209 industrial biotechnology, Partial differential equation, 020208 electrical & electronic engineering, Ode, Boundary (topology), 02 engineering and technology, Integral equation, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Invertible matrix, law, Backstepping, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Symmetric matrix, Applied mathematics, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Actuator, Mathematics
Abstract

International audience; We consider the problem of full-state feedback exponential stabilization of the zero equilibrium of a (possibly unstable) coupled 2 × 2 system of linear first-order hyperbolic partial differential equations (PDEs). Unlike previous works, boundary couplings to linear ordinary differential equations (ODEs) at both boundaries are considered (under some condi- tions) and actuation is only available through one of these ODE dynamics. This structure can arise when considering linear (or linearized) systems of balance laws with finite-dimensional actuator and load dynamics. The feedback law proposed in this paper is constructed using an invertible transform based on the (infinite-dimensional) backstepping method and a suitable target system that together guarantee the exponential stability of the origin of the closed-loop system in an adequate norm.

Published
2017
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8. Hamiltonian systems discrete-time approximation: Losslessness, passivity and composability

Author

Michael Di Loreto, Wilfrid Marquis-Favre, Said Aoues, Damien Eberard, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)

Subjects
0209 industrial biotechnology, Energetic integrator, General Computer Science, Passivity, 010103 numerical & computational mathematics, 02 engineering and technology, Topology, 01 natural sciences, Hamiltonian system, symbols.namesake, 020901 industrial engineering & automation, Hamiltonian difference scheme, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Composability, 0101 mathematics, Electrical and Electronic Engineering, Mathematics, Mechanical Engineering, Dissipation, Invariant (physics), Rigid body, Dirac structure, Passive integrator, Discrete time and continuous time, Control and Systems Engineering, Integrator, symbols, Hamiltonian (quantum mechanics)
Abstract

International audience; In this paper a passive integrator dedicated to input/output Hamiltonian systems approximation is presented. In a first step, a discrete Hamiltonian framework endowed with a Lie derivative-like formula is introduced. It is shown that the discrete dynamics encodes energy conservation and passivity. Addition- ally, the characterization of the discrete dynamics in terms of Dirac structure is shown to be invariant by interconnection. The class is thus composable: networked systems belong to the class. In a second step, the discrete dynamics is considered as a one-step integration method. The method is shown to be convergent and provides a discrete-time approximation of an input/output Hamiltonian system. Accordingly, the discrete dynamics inherits intrinsic energetic characteristics (storage function and dissipation rate) from the original system. The method is thus tagged as passive integrator. As an illustration, the closed-loop behavior of interconnected subsystems and the stabilization of a rigid body spinning around its center of mass are presented.

Published
2017
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9. An Energy Based Approach for Passive Dual-user Haptic Training Systems

Author

Damien Eberard, Fei Liu, Arnaud Lelevé, Tanneguy Redarce, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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), CSC, and IEEE

Subjects
robotics, 0209 industrial biotechnology, Engineering, business.industry, hands-on training, Passivity, haptic system, Control engineering, Robotics, 02 engineering and technology, Dual (category theory), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, dual-user system, Robustness (computer science), Control theory, Control system, Teleoperation, 0202 electrical engineering, electronic engineering, information engineering, teleoperation, 020201 artificial intelligence & image processing, Artificial intelligence, business, Simulation, Haptic technology
Abstract

International audience; This paper introduces a new controller for dual-user training systems, designed by way of an energy based approach. Dual-user training systems are useful for supervised hands-on training when a trainer shows the right gestures to a trainee and where the forces to apply on the tools are difficultto dose. An energy shared control (ESC) based architecture is proposed, based on an intrinsically passive authority sharing mechanism which is enhanced to provide a full force feedback to both users. As this enhancement may violate the natural passivity of the system, a passivity controller is introduced. A task based comparative study with two other dual-user schemes (Complementary Linear Combination (CLC) and Masters Correspondence with Environment Transfer (MECT) from [1] is conducted, which reveals analogous performances. Real-time experiments demonstrate good tracking performances.

Published
2016
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10. Definition of Essential Order on Descriptor Systems and its Bond Graph Determination

Author

Julien Lagnier, Damien Eberard, Wilfrid Marquis-Favre, Didier Rémond, Michael Di Loreto, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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), Laboratoire de Mécanique des Contacts et des Structures [Villeurbanne] (LaMCoS), Institut National des Sciences Appliquées de Lyon (INSA Lyon), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Discrete mathematics, Descriptor Systems, 0209 industrial biotechnology, Descriptor systems, Inverse Model, Inverse, Algebraic extension, 010103 numerical & computational mathematics, 02 engineering and technology, Structural Analysis, 01 natural sciences, Transfer matrix, Bicausal Bond Graph, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Specification, Matrix pencil, 0101 mathematics, Invariant (mathematics), Structure at Infinity, Bond graph, Generalized Essential Order (GEO), Mathematics
Abstract

International audience; In the context of model inversion, a structural invariant of the transfer matrix, the essential order, is used as a model specification criterion to determine the highest time-differentiation order reached by an output in the inverse model. Originally defined for linear time-invariant (LTI) regular systems, we propose an algebraic extension to the class of LTI descriptor systems with regular matrix pencil and show that, from a descriptor system inversion viewpoint, this invariant characterizes the highest time-differentiation of the output like in the regular case. A bond graph determination procedure on the direct model is given using (bi)causal path inspection and the notion of families of different causal paths.

Published
2016
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11. Bond Graph Model Of A Water Heat Exchanger

Author

Toufik Bentaleb, Minh Tu Pham, Damien Eberard, Wilfrid Marquis-Favre, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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), European Project: 11004,ITEA 2 Call 6,Modrio(2012), Pham, Minh Tu, and Model Driven Physical Systems Operation - Modrio - - ITEA 2 Call 62012-09-01 - 2015-11-01 - 11004 - INCOMING

Subjects
0209 industrial biotechnology, Engineering, business.industry, Thermofluid systems, Plate heat exchanger, Mechanical engineering, 02 engineering and technology, Structural engineering, 01 natural sciences, 7. Clean energy, Modelica, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Multiport, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, 0103 physical sciences, Heat exchanger, Bond graph, Energy structure, business, 010301 acoustics
Abstract

International audience; This paper presents a Bond Graph (BG) modellingapproach to add and exploit on existing Modelica mod-els some information on the energy structure of thesystems. The developed models in the ThermosysProlibrary (Modelica-based) are already validated againstthe experimental data in previous works. A plate heatexchanger (PHE), which is equipment for nuclear powerplants, is considered as a case study in this paper.Simulation results of the BG model for the counterflowPHE are compared with simulation results of the testedModelica model. Comparisons show good agreementbetween both model results.

Published
2016

12. Discrete IDA-PBC control law for Newtonian mechanical port-Hamiltonian systems

Author

Said Aoues, Damien Eberard, Wilfrid Marquis-Favre, Centre National de la Recherche Scientifique - CNRS (FRANCE), Institut National des Sciences Appliquées de Lyon - INSA (FRANCE), Université de Lyon - UDL (FRANCE), Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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), and ANR-11-JS03-0004,AIDS,Approximation des Systèmes de Dimension Infinie(2011)

Subjects
0209 industrial biotechnology, Discretization, passivity equation, 02 engineering and technology, 01 natural sciences, Hamiltonian system, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, nertia wheel pendulum model, Exponential stability, Control theory, 0103 physical sciences, Inertia wheel pendulum, Mathématique discrète, Newtonian mechanical systems, Observability, Port-Hamiltonian systems, 010306 general physics, Mathematics, discrete PHS system, storage functions, Dissipation, Mass matrix, continuous-time PHS, closed-loop stability LaSalle principle, dissipation functions, discrete closed-loop behavior, zero-state observability assumption, Discrete IDA-PBC control law
Abstract

International audience; This paper deals with the stability of discrete closed-loop dynamics arising from digital IDA-PBC controller design. This work concerns the class of Newtonian mechanical port-Hamiltonian systems (PHSs), that is those having separable energy being quadrating in momentum (with constant mass matrix). We first introduce a discretization scheme which ensures a passivity equation relatively to the same storage and dissipation functions as the continuous-time PHS. A discrete controller is then obtained following the IDA-PBC design procedure applied to the discrete PHS system. This method guarantees that, from an energetic viewpoint, the discrete closed-loop behavior is similar to the continuous one. Under zero-state observability assumption, closed-loop stability then follows from LaSalle principle. The method is illustrated on an inertia wheel pendulum model.

Published
2016
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13. A Dual-user Teleoperation System with Online Authority Adjustment for Haptic Training

Author

Arnaud Lelevé, Damien Eberard, Tanneguy Redarce, Fei Liu, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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), CSC, and IEEE Engineering in Medecine and Biology Society

Subjects
0209 industrial biotechnology, Engineering, Control (management), 02 engineering and technology, Haptics, [SPI.AUTO]Engineering Sciences [physics]/Automatic, User-Computer Interface, 020901 industrial engineering & automation, Factor (programming language), Dual User Teleoperation, 0202 electrical engineering, electronic engineering, information engineering, Architecture, Hands-On Training, Simulation, computer.programming_language, Haptic technology, Internet, business.industry, 020208 electrical & electronic engineering, Robotics, Medical Robotics, Dual (category theory), Teleoperation, The Internet, Artificial intelligence, business, computer, Algorithms
Abstract

International audience; This paper introduces a dual-user teleoperation system for hands-on medical training. A shared control based architecture is presented for authority management. In this structure, the combination of control signals is obtained using a dominance factor. Its main improvement is Online Authority Adjustment (OAA) : the authority can be adjusted manually/automatically during the training progress. Experimental results are provided to validate the performances of the system.

Published
2015
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14. Discrete IDA-PBC Design for 2D Port-Hamiltonian Systems

Author

Wilfrid Marquis-Favre, Damien Eberard, Said Aoues, 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), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)

Subjects
Hamiltonian mechanics, 0209 industrial biotechnology, Discretization, 010102 general mathematics, Pendulum, 02 engineering and technology, 01 natural sciences, Stabilization, Hamiltonian system, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Discrete system, Nonlinear system, symbols.namesake, Geometric Methods, 020901 industrial engineering & automation, Quadratic equation, Control theory, Discrete optimization, symbols, Passivity, Applied mathematics, 0101 mathematics, Mathematics
Abstract

International audience; We address the discrete-time passivity-based control laws synthesis within port-Hamiltonian framework. We focus on IDA-PBC design for canonical port-Hamiltonian systems with separable energy being quadratic in momentum. For this class of systems, we define a discrete Hamiltonian dynamics that exactly satisfies a discrete energy balance. We then derive a discrete controller following the IDA-PBC procedure. The proposed methodology relies on an energy discretization scheme with suitable discrete conjugate port variables. The main result is illustrated on two examples: a nonlinear pendulum in order to compare with some simulation results of the literature, and the impact oscillator which requires robust discretization scheme.

Published
2013
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15. Tolerance synthesis using bond graph inversion and fuzzy logic

Author

Wilfrid Marquis-Favre, Damien Eberard, Laurent Krähenbühl, Van Hoa Nguyen, 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), Université de Lyon-Institut National des Sciences Appliquées (INSA)-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), and ITEA2 OPENPROD

Subjects
mechatronics, 021103 operations research, Tolerance analysis, Neuro-fuzzy, tolerance analysis, 0211 other engineering and technologies, linear systems, fuzzy control, 02 engineering and technology, Fuzzy control system, Fuzzy logic, Defuzzification, bond graphs, [SPI.AUTO]Engineering Sciences [physics]/Automatic, uncertain systems, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Fuzzy set operations, Fuzzy number, 020201 artificial intelligence & image processing, fuzzy logic, Bond graph, Mathematics
Abstract

International audience; In the context of mechatronic systems design, this paper addresses a parameter tolerance synthesis with respect to specifications including output epistemic uncertainties. The methodology proposed here concerns uncertainties modelled with fuzzy logic. The procedure relies on output uncertainties propagation through an inverse model. Design parameter tolerance is then synthesized. The results are validated injecting designed parameters in the direct model. The methodology is illustrated on a linear model with specifications including combined uncertainties.

Published
2013
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16. Port-based modelling of mass transport phenomena

Author

Yann Le Gorrec, A. Baaiu, Damien Eberard, Christian Jallut, Françoise Couenne, Bernhard Maschke, Laurent Lefèvre, Laboratoire d'automatique et de génie des procédés (LAGEP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), ESISAR, Ecole Supérieure d'Ingénieurs en Systèmes Industriels Avancés, Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS), 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), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-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)

Subjects
0209 industrial biotechnology, Dirac (software), Structure (category theory), Closure (topology), 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, [CHIM.GENI]Chemical Sciences/Chemical engineering, 020401 chemical engineering, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Distributed parameters systems, [SPI.GPROC]Engineering Sciences [physics]/Chemical and Process Engineering, 0204 chemical engineering, Port-Hamiltonian systems, Multi-scale modelling, ComputingMilieux_MISCELLANEOUS, Mathematics, Coupling, Interconnection, Conservation law, Applied Mathematics, [SPI.NRJ]Engineering Sciences [physics]/Electric power, Computer Science Applications, Classical mechanics, Control and Systems Engineering, Modeling and Simulation, First principle, Thermodynamics, Bond graphs, Bond graph, Software
Abstract

International audience; The goal of this article is to present an extension of the port-based modelling approach (bond graphs) which applies to systems subject to heat and mass transfer. The methodology is based on the first principle, conservation laws and constitutive closure relations. The latter are the phenomenological laws relating fluxes and thermodynamic forces. Then instantaneous power conservation appears naturally as a geometric interconnection structure called Dirac structure. The multi-level case (several macroscopic spatial scales) is investigated with the assumption that the spatial scales are separated and may be considered as two distinct phases. In this case, it is shown that both the interconnection coupling within a phase and the multi-level interconnection coupling are Dirac structures.

Published
2009
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