Author: "Commande" / Publisher: elsevier bv - Searchworks@Jio Institute Digital Library Search Results

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136 results on '"Commande"'

1. Robust structural feedback linearization based on the nonlinearities rejection

Author: Moises Bonilla, Vadim Azhmyakov, Michel Malabre, L. A. Blas, Sergio Salazar, Departamento de Control Automático (CINVESTAV-IPN), Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), Universidad de Medellin, Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)
Subjects: Scheme (programming language), 0209 industrial biotechnology, Computer Networks and Communications, Computer science, nonlinearities rejection, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Attitude control, 020901 industrial engineering & automation, Control theory, Linearization, Simple (abstract algebra), 0202 electrical engineering, electronic engineering, information engineering, Feedback linearization, computer.programming_language, Class (computer programming), Applied Mathematics, nonlinear dynamic systems, System dynamics, Control and Systems Engineering, Signal Processing, 020201 artificial intelligence & image processing, Robust control, computer, failure reconstruction, non-standard feedback linearization
Abstract: In this paper, we consider a class of affine control systems and propose a new structural feedback linearization technique. This relatively simple approach involves a generic linear-type control scheme and follows the classic failure detection methodology. The robust linearization idea proposed in this contribution makes it possible an effective rejection of nonlinearities that belong to a specific class of functions. The nonlinearities under consideration are interpreted here as specific signals that affect the initially given systems dynamics. The implementability and efficiency of the proposed robust control methodology is illustrated via the attitude control of a Planar Vertical Take Off Landing (PVTOL) system.
Published: 2020
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2. An alternative to standard nuclear core control using a multi-objective approach

Author: Alain Grossetete, Mohamed Yagoubi, Philippe Chevrel, Lori Lemazurier, AREVA NP, AREVA NP - Centre Technique (FRANCE), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), and Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST)
Subjects: 0209 industrial biotechnology, Operating point, Offset (computer science), Computer science, Applied Mathematics, Multivariable calculus, 020208 electrical & electronic engineering, Estimator, 02 engineering and technology, 7. Clean energy, Computer Science Applications, 020901 industrial engineering & automation, Gain scheduling, Nuclear reactor core, Control and Systems Engineering, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Embedding, Electrical and Electronic Engineering, Core model, ComputingMilieux_MISCELLANEOUS
Abstract: This paper proposes an alternative to standard nuclear core control. The control objectives are standard and concern the Average Coolant Temperature, the Axial Offset and the rod bank position (Pbank in this study). They were carefully formalized before proceeding to LTI structured controllers synthesis at various operating points, using a multi-objective approach. This study relies on a point kinetic core model, embedding an AO estimator. A Non-smooth optimization technique is used to solve the control problems at each operating point. Then gain scheduling is performed, taking advantage of the parsimonious parameterization of the considered multivariable controller. Finally, simulations are carried out on a highly realistic reactor model including a Xenon model and show the benefits of the new control
Published: 2019
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3. Robust lateral control of cars: Towards a reduction of pessimism and an easy trade-off between performance, comfort and robustness

Author: Pedro Kvieska, Simon Mustaki, Mohamed Yagoubi, Philippe Chevrel, Francois Fauvel, Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), RENAULT, Commande (Commande), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST)
Subjects: 0209 industrial biotechnology, Computer science, media_common.quotation_subject, 020208 electrical & electronic engineering, Control engineering, 02 engineering and technology, Pessimism, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Robustness (computer science), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Automotive design, ComputingMilieux_MISCELLANEOUS, Parametric statistics, media_common
Abstract: This paper presents a methodology to design a Lane Centering Assistance (LCA) system. It proposes an original approach to deal with the large parametric uncertainties encountered by automotive design engineers. Indeed, the same controller is supposed to be used for a specific vehicle regardless its configuration (tire, load, motorization, etc.). The methodology consists in a gradual insertion of the designers expertise in order to reduce as much as possible the inherent pessimism of a multi-model design approach. It also proposes some direct parameters to easily adjust the sought trade-off between performance (low lateral error) and driving feeling (jerks). The proposed design process is validated by high-fidelity simulations using complete nonlinear vehicle models.
Published: 2019
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4. Robust active noise control in a car cabin: Evaluation of achievable performances with a feedback control scheme

Author: Philippe Chevrel, Jean-Marc Duffal, Paul Loiseau, Mohamed Yagoubi, Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Technocentre Renault [Guyancourt], RENAULT, and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Multi-objective control, 0209 industrial biotechnology, Optimization problem, Computer science, MIMO, Robust control, 02 engineering and technology, 01 natural sciences, 020901 industrial engineering & automation, Robustness (computer science), Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0103 physical sciences, Electrical and Electronic Engineering, 010301 acoustics, Active noise control, Applied Mathematics, Attenuation, Solver, Broadband noise attenuation, Computer Science Applications, Control and Systems Engineering, A priori and a posteriori, Automotive control
Abstract: International audience; The application dealt with in this paper is the active attenuation of broadband noise (produced by the tire/road contact) in a car cabin, using only a feedback control scheme (1-DOF (one degree of freedom)). The objective of the proposed control methodology is to evaluate achievable performances according to the frequency bandwidth in which attenuation is desired. This is investigated numerically, by seeking a multi-input multi-output (MIMO) active noise control solution that reaches the best attenuation level, under explicit robustness constraints. The paper aims to i) formalize the underlyingoptimization problem including performance and robustness indicators as well as industrial constraints, ii) perform an effective MIMO identification, and iii) provide an a priori control structure and then proceed to direct optimization of some meaningful parameters using a well-suited nonsmooth optimization solver. Finally, the simulation and experimental results obtained following the proposed methodology are shown and discussed.
Published: 2018
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5. A flexible design methodology to solve energy management problems

Author: Clement Fauvel, Fabien Claveau, Philippe Fiani, Philippe Chevrel, Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Université Bretagne Loire (UBL), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Sherpa Engineering, industriel, and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Modularity (networks), Engineering, Mathematical optimization, Optimization problem, configuration-based control, business.industry, Energy management, 020209 energy, 020208 electrical & electronic engineering, Energy Engineering and Power Technology, 02 engineering and technology, 7. Clean energy, Multi-objective optimization, multi-energy system, [SPI.AUTO]Engineering Sciences [physics]/Automatic, energy management strategy, Set (abstract data type), multi-objective optimization, 0202 electrical engineering, electronic engineering, information engineering, functional modelling, Electrical and Electronic Engineering, Layer (object-oriented design), business, Design methods, Energy (signal processing)
Abstract: International audience; This paper investigates the design and simplification of energy management problems (EMP) through a dedicated functional model for energy systems. The proposed framework extends the concept of energy-hub by adding a layer of information based on standardized communication ports. As a result, the EMP can be expressed directly from the model as a nonlinear multi-objective optimization problem. Taking advantage of the modularity of the approach, methods to substantially reduce EMP complexity are proposed: one manages the energy demands based on a discrete set of precomputed local regulators (configurations); another decomposes the problem using an appropriate set of sub-problems. The framework and the methodology are shown to be flexible and efficient through the case study of a hybrid serial refrigerating truck.; Cet article étudie la conception et la simplification des problèmes de gestion de l'énergie (EMP) à travers un modèle fonctionnel dédié aux systèmes énergétiques. Le cadre proposé étend le concept de "energy-hub" en ajoutant une nouvelle couche d'information basée sur des ports de communication standardisé. Par conséquent, l'EMP peut être exprimé systématiquement comme un problème d'optimisation multi-objectif non linéaire. Compte tenu de l'aspect modulaire de l'approche, des méthodes pour réduire la complexité du problème sont énoncées : la première s'appuie sur un contrôle des clients par configuration; la seconde décompose le problème en utilisant un ensemble de sous-problèmes approprié. L'étude d'un camion frigorifique hybride démontre la flexibilité et l'efficacité de la méthodologie pour la conception d'une stratégie énergétique.
Published: 2018
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6. Gain-scheduled static output feedback control for saturated LPV systems with bounded parameter variations

Author: Anh-Tu Nguyen, Fabien Claveau, Philippe Chevrel, Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), and Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France)
Subjects: Lyapunov function, Scheme (programming language), 0209 industrial biotechnology, Rank (linear algebra), Computer science, Parameter-dependent Lyapunov functions, Linear matrix inequality (LMI), 02 engineering and technology, LPV systems, [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, 020901 industrial engineering & automation, Gain-scheduled output control, Congruence (geometry), Control theory, Domain of attraction, 0202 electrical engineering, electronic engineering, information engineering, Electrical and Electronic Engineering, Parametric statistics, computer.programming_language, Input saturation, Nonlinear system, Transformation (function), Control and Systems Engineering, Bounded function, symbols, 020201 artificial intelligence & image processing, computer
Abstract: IF=6.126; International audience; This paper presents a new design method for gain-scheduled static output feedback (SOF) controllers of saturated LPV (linear parameter varying) systems. Our solution is based on a special SOF scheme in conjunction with specific congruence transformations. The regional design is established through an effective treatment of nonlinear effects introduced by the saturations in the closed loop. Using parameter-dependent Lyapunov functions, the control design is reformulated as a parameter-dependent LMI optimization with a single line search parameter. Then, by an equivalent polytopic transformation, tractable design conditions are derived for constrained LPV systems with a broad class of parametric dependencies. In particular, it is proved that the new method generalizes some well-known results based on linear matrix equalities while reducing the design conservatism. Moreover, explicit rank constraints on state–space system matrices are not required. A physically motivated example is given for illustration purposes.
Published: 2018
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7. Hierarchical control for flexible microgrid based on three-phase voltage source inverters operated in parallel

Author: Abdelmoumen Darcherif, Ikram El Abbassi, Djamel Boukhetala, Islam Ziouani, Bilal Amghar, Laboratoire de Commande des Processus, Ecole Nationale Polytechnique [Alger] (ENP), Laboratoire QUARTZ (QUARTZ ), Université Paris 8 Vincennes-Saint-Denis (UP8)-SUPMECA - Institut supérieur de mécanique de Paris-Ecole Nationale Supérieure de l'Electronique et de ses Applications (ENSEA)-Ecole Internationale des Sciences du Traitement de l'Information (EISTI), Électronique et Commande des Systèmes Laboratoire (ECS-Lab), Ecole Nationale Supérieure de l'Electronique et de ses Applications, and Université Paris 8 Vincennes-Saint-Denis (UP8)-SUPMECA - Institut supérieur de mécanique de Paris (SUPMECA)-Ecole Nationale Supérieure de l'Electronique et de ses Applications (ENSEA)-Ecole Internationale des Sciences du Traitement de l'Information (EISTI)
Subjects: Engineering, business.industry, 020209 energy, [SPI.NRJ]Engineering Sciences [physics]/Electric power, 020208 electrical & electronic engineering, Energy Engineering and Power Technology, 02 engineering and technology, AC power, [SPI.TRON]Engineering Sciences [physics]/Electronics, Three-phase, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Inverter, Voltage droop, Output impedance, Voltage source, Microgrid, Electrical and Electronic Engineering, business, ComputingMilieux_MISCELLANEOUS, Voltage
Abstract: In this paper, a hierarchical control for flexible operation of a microgrid is proposed. The structure of the hierarchical control consists of inner, primary and secondary levels. The inner control is used to regulate the output voltage of the inverter which is commonly referred as zero-level. The primary control based on the universal droop control which we improve it to handle both operation modes. It is used to share the active and reactive power accurately with regardless of the output impedance of the inverters. The secondary control compensates the deviation of the microgrid voltage caused by the primary control as well as synchronizes the microgrid voltage with the grid for a smooth transition. Thus, the microgrid can operate either in grid-connected or in islanded mode by using the same control scheme. The small-signal stability of the ameliorated universal droop control is analyzed for both modes, and other levels of control are modeled. Moreover, a technique based on meta-heuristic optimization to design the hierarchical control parameters optimally is introduced. Finally, the simulation was performed on a microgrid that has three voltage source inverters (VSIs) connected in parallel and a local nonlinear load. The results demonstrate the disturbance rejection performance and the flexibility of the proposed control scheme.
Published: 2018
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8. Tractable sufficient stability conditions for a system coupling linear transport and differential equations

Author: Mohammed Safi, Alexandre Seuret, Lucie Baudouin, Institut Supérieur de l'Aéronautique et de l'Espace (ISAE-SUPAERO), 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, ANR-15-CE23-0014,SCIDIS,Stabilité et commande de systèmes de dimension infinie(2015), 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), and Université de Toulouse (UT)
Subjects: 0209 industrial biotechnology, General Computer Science, Differential equation, 02 engineering and technology, Bessel inequality, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Transport equation, 020901 industrial engineering & automation, Exponential stability, Stability theory, [MATH.MATH-AP]Mathematics [math]/Analysis of PDEs [math.AP], integral inequalities, 0101 mathematics, Electrical and Electronic Engineering, Legendre polynomials, Mathematics, Lyapunov stability, Partial differential equation, Mechanical Engineering, Mathematical analysis, 010101 applied mathematics, Stability conditions, Control and Systems Engineering, Linear stability
Abstract: This paper deals with the stability analysis of a system of finite dimension coupled to a vectorial transport equation. We develop here a new method to study the stability of such a system, coupling ordinary and partial differential equations, using linear matrix inequalities led by the choice of an appropriate Lyapunov functional. To this end, we exploit Legendre polynomials and their properties, and use a Bessel inequality to measure the contribution of our approximation. The exponential stability of a wide class of delay systems is a direct consequence of this study, but above all, we are detailing here a new approach in the consideration of systems coupling infinite and finite dimensional dynamics. The coupling with a vectorial transport equation is a first step that already prove the interest of the method, bringing hierarchized conditions for stability. We will give exponential stability results and their proofs. Our approach will finally be tested on several academic examples.
Published: 2017
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9. A Robust feedback control design for broadband noise attenuation in a car cabin

Author: Philippe Chevrel, Jean-Marc Duffal, Mohamed Yagoubi, Paul Loiseau, Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Renault SA -Service Synthese Acoustique et Vibrations, and Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST)
Subjects: Multi-objective control, 0209 industrial biotechnology, Engineering, Optimization problem, MIMO, 02 engineering and technology, 01 natural sciences, 020901 industrial engineering & automation, Robustness (computer science), Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0103 physical sciences, Electronic engineering, 010301 acoustics, ComputingMilieux_MISCELLANEOUS, Active noise control, business.industry, Broadband noise, Attenuation, Broadband noise attenuation, Control and Systems Engineering, A priori and a posteriori, Robust control, business, robust control, Automotive control
Abstract: The application considered in this paper is the active control of broadband noise, produced by tyre/road contact, in a car cabin. The proposed control methodology aims to evaluate achievable performances depending on the frequency bandwidth in which attenuation is desired. This is explored by seeking a MIMO active noise control solution that optimizes the attenuation level, under explicit robustness constraints. Emphasis is put on how to i) formalize the related optimization problem: performance and robustness indicators, ii) perform an effective MIMO identification, and iii) fix an a priori control structure and directly optimize its parameters thanks to nonsmooth optimization solvers. Finally, the results obtained (following the proposed methodology) both in simulation and experimentally are shown and discussed.
Published: 2017
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10. Linearization by means of Linear Implicit Rectangular Descriptions

Author: Vadim Azhmyakov, Moises Bonilla, Michel Malabre, Departamento de Control Automático (CINVESTAV-IPN), Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), UMI-LAFMIA CINVESTAV-CNRS, Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Universidad de Medellin, Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)
Subjects: 0209 industrial biotechnology, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], 02 engineering and technology, 16. Peace & justice, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Algebra, [SPI]Engineering Sciences [physics], Algebraic equation, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Linearization, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Feedback linearization, Representation (mathematics), ComputingMilieux_MISCELLANEOUS, State representation, Linear control, Mathematics
Abstract: This paper discusses a novel implementable approach to an exact linearization procedure based on the implicit systems techniques. The formal procedure we propose includes a specific “splitting” of the nonlinear state representation in two parts that involve a basic rectangular representation and an auxiliary nonlinear algebraic equation. The proposed linear implicit systems description makes it possible to apply the conventional linear control techniques to an initially given sophisticated nonlinear dynamic model.
Published: 2017
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11. Stability analysis of linear impulsive delay dynamical systems via looped-functionals

Author: Sophie Tarbouriech, Alexandre Seuret, Alfonso Baos, Miguel A. Dav, Frédéric Gouaisbaut, SYSCO ( GIPSA-SYSCO ), Département Automatique ( GIPSA-DA ), Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ), Departamento de Informática y Sistemas [Murcia] ( Modelum ), Universidad de Murcia, Équipe Méthodes et Algorithmes en Commande ( LAAS-MAC ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ) -Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ), 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]), Departamento de Informática y Sistemas [Murcia] (Modelum), 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), and Université de Toulouse (UT)
Subjects: 0209 industrial biotechnology, Dynamical systems theory, Discrete dynamics, 02 engineering and technology, Linear matrix, Base (topology), Stability (probability), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Exponential stability, Computer Science::Systems and Control, Control and Systems Engineering, Control theory, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Electrical and Electronic Engineering, Mathematics
Abstract: International audience; This article investigates the asymptotic stability of impulsive delay dynamical systems (IDDS) by using the Lyapunov-Krasovskii method and looped-functionals. The proposed conditions reduce the conservatism of the results found in the literature by allowing the functionals to grow during both the continuous dynamics and the discrete dynamics. Sufficient conditions for asymptotic stability in the form of linear matrix inequalities (LMI) are provided for the case of impulsive delay dynamical systems with linear and time-invariant (LTI) base systems (non-impulsive actions). Several numerical examples illustrate the effectiveness of the method.
Published: 2017
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12. Stability analysis of systems with time-varying delays via the second-order Bessel–Legendre inequality

Author: Kun Liu, Yuanqing Xia, Alexandre Seuret, School of Automation [Beijing], Beijing Institute of Technology (BIT), 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, ANR-15-CE23-0014,SCIDIS,Stabilité et commande de systèmes de dimension infinie(2015), 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, Lyapunov method, Inequality, media_common.quotation_subject, Time-varying delays, Mathematical analysis, Novelty, Stability (learning theory), Order (ring theory), 02 engineering and technology, Linear matrix, [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, 020901 industrial engineering & automation, Control and Systems Engineering, integral inequality, 0202 electrical engineering, electronic engineering, information engineering, symbols, 020201 artificial intelligence & image processing, Electrical and Electronic Engineering, Legendre polynomials, Bessel function, media_common, Mathematics
Abstract: International audience; This paper is concerned with the delay-dependent stability of systems with time-varying delays. The novelty relies on the use of the second-order Bessel–Legendre integral inequality which is less conservative than the Jensen and Wirtinger-based inequalities. Unlike similar contributions, the features of this inequality are fully integrated into the construction of augmented Lyapunov–Krasovskii functionals leading to novel stability criteria expressed in terms of linear matrix inequalities. The stability condition is tested on some classical numerical examples illustrating the efficiency of the proposed method.
Published: 2017
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13. Automatic synthesis of k-inductive piecewise quadratic invariants for switched affine control programs

Author: Assalé Adjé, Pierre-Loïc Garoche, LAboratoire de Mathématiques et PhySique (LAMPS), Université de Perpignan Via Domitia (UPVD), ONERA - The French Aerospace Lab [Toulouse], ONERA, Institut de recherche en informatique de Toulouse (IRIT), 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), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées, RTRA/STAE Briefcase project, ANR-12-ASTR-0004,VORACE,Vérification des Optimisations Rapides Appliquées à la Commande Embarquée(2012), ANR-12-INSE-0007,CAFEIN,Combinaison d'approches formelles pour l'étude d'invariants numériques(2012), Garoche, Pierre-Loïc, Accompagnement spécifique des travaux de recherches et d’innovation Défense - Vérification des Optimisations Rapides Appliquées à la Commande Embarquée - - VORACE2012 - ANR-12-ASTR-0004 - ASTRID - VALID, and Ingénierie Numérique et Sécurité - Combinaison d'approches formelles pour l'étude d'invariants numériques - - CAFEIN2012 - ANR-12-INSE-0007 - INS - VALID
Subjects: [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], 0209 industrial biotechnology, Mathematical optimization, Dynamical systems theory, Computer Networks and Communications, Computer science, ACM: D.: Software/D.2: SOFTWARE ENGINEERING/D.2.4: Software/Program Verification, Stability (learning theory), 02 engineering and technology, [INFO.INFO-CL]Computer Science [cs]/Computation and Language [cs.CL], Set (abstract data type), 020901 industrial engineering & automation, Quadratic equation, Infinite loop, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], 0202 electrical engineering, electronic engineering, information engineering, [INFO]Computer Science [cs], formal verification, ComputingMilieux_MISCELLANEOUS, piecewise affine systems, 020207 software engineering, Static analysis, piecewise quadratic lyapunov functions, static analysis, [INFO.INFO-CL] Computer Science [cs]/Computation and Language [cs.CL], Piecewise, Affine transformation, Algorithm, Software
Abstract: Among the various critical systems that are worth to be formally analyzed, a wide set consists of controllers for dynamical systems. Those programs typically execute an infinite loop in which simple computations update internal states and produce commands to update the system state. Those systems are yet hardly analyzable by available static analysis method, since, even if performing mainly linear computations, the computation of a safe set of reachable states often requires quadratic invariants. In this paper we consider the general setting of a piecewise affine program; that is a program performing different affine updates on the system depending on some conditions. This typically encompasses linear controllers with saturations or controllers with different behaviors and performances activated on some safety conditions. Our analysis is inspired by works performed a decade ago by Johansson et al, and Morari et al, in the control community. We adapted their method focused on the analysis of stability in continuous-time or discrete-time settings to fit the static analysis paradigm and the computation of invariants, that is over-approximation of reachable sets using piecewise quadratic Lyapunov functions. This approach has been further extended to consider k-inductive properties of reachable traces (trajectories) of systems. The analysis has been implemented in Matlab and shown very good experimental results on a very large set of synthesized problems.
Published: 2017
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14. Moduli spaces of rank two aCM bundles on the Segre product of three projective lines

Author: Daniele Faenzi, Gianfranco Casnati, Francesco Malaspina, Department of Mathematics [Torino] ( DIMAT ), Politecnico di Torino [Torino] ( Polito ), Institut de Mathématiques de Bourgogne [Dijon] ( IMB ), Université de Bourgogne ( UB ) -Centre National de la Recherche Scientifique ( CNRS ), CNRSINdAMGNSAGA group of INdAMPRINMIUR, ANR-11-BS03-0011,GEOLMI,Geométrie et algèbre des inégalités matricielles linéaires avec applications en commande ( 2011 ), Department of Mathematics [Torino] (DIMAT), Politecnico di Torino = Polytechnic of Turin (Polito), Institut de Mathématiques de Bourgogne [Dijon] (IMB), Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université de Bourgogne (UB), and ANR-11-BS03-0011,GEOLMI,Geométrie et algèbre des inégalités matricielles linéaires avec applications en commande(2011)
Subjects: 14J60, 14J45, 14D20, [MATH.MATH-AC]Mathematics [math]/Commutative Algebra [math.AC], Rank (differential topology), Commutative Algebra (math.AC), 01 natural sciences, [ MATH.MATH-AC ] Mathematics [math]/Commutative Algebra [math.AC], Combinatorics, Mathematics - Algebraic Geometry, Mathematics::Algebraic Geometry, 0103 physical sciences, FOS: Mathematics, 0101 mathematics, Projective test, Algebraic Geometry (math.AG), Mathematics, Algebra and Number Theory, Image (category theory), 010102 general mathematics, Mathematics - Commutative Algebra, 16. Peace & justice, [ MATH.MATH-AG ] Mathematics [math]/Algebraic Geometry [math.AG], Moduli space, Segre embedding, MSC: Primary: 14J60, secondary: 14J45, 14D20, Product (mathematics), [MATH.MATH-AG]Mathematics [math]/Algebraic Geometry [math.AG], 010307 mathematical physics
Abstract: Let P^n be the projective space of dimension n on an algebraically closed field of characteristic 0 and F be the image of the Segre embedding of P^1xP^1xP^1 inside P^7. In the present paper we deal with the moduli spaces of locally free sheaves E on F of rank 2 with h^i(F,E(t))=0 for i=1,2 and each integer t., Comment: 22 pages. Exposition improved
Published: 2016
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15. SONC optimization and exact nonnegativity certificates via second-order cone programming

Author: Magron, Victor, Wang, Jie, Institut de Mathématiques de Toulouse UMR5219 (IMT), 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), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), 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-ERC2-0004,COPS,Optimisation garantie pour la vérification des systèmes cyber-physiques(2018), ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019), European Project: 813211,H2020-EU.1.3. - EXCELLENT SCIENCE - Marie Skłodowska-Curie Actions (Main Programme), H2020-EU.1.3.1. - Fostering new skills by means of excellent initial training of researchers ,10.3030/813211,POEMA(2019), 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), Université Fédérale Toulouse Midi-Pyrénées-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, and European Project: 813211,H2020,POEMA(2019)
Subjects: FOS: Computer and information sciences, Computer Science - Symbolic Computation, Algebra and Number Theory, MathematicsofComputing_NUMERICALANALYSIS, Symbolic Computation (cs.SC), sum of binomial squares, exact nonnegativity certificate, Mathematics - Algebraic Geometry, Computational Mathematics, rounding-projection algorithm, Optimization and Control (math.OC), sum of nonnegative circuit polynomials, second-order cone programming, polynomial optimization, ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION, FOS: Mathematics, second-order conerepresentation, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Algebraic Geometry (math.AG), Mathematics - Optimization and Control
Abstract: The second-order cone (SOC) is a class of simple convex cones and optimizing over them can be done more efficiently than with semidefinite programming. It is interesting both in theory and in practice to investigate which convex cones admit a representation using SOCs, given that they have a strong expressive ability. In this paper, we prove constructively that the cone of sums of nonnegative circuits (SONC) admits a SOC representation. Based on this, we give a new algorithm for unconstrained polynomial optimization via SOC programming. We also provide a hybrid numeric-symbolic scheme which combines the numerical procedure with a rounding-projection algorithm to obtain exact nonnegativity certificates. Numerical experiments demonstrate the efficiency of our algorithm for polynomials with fairly large degree and number of variables., 29 pages, 7 tables, 6 figures, extended version of the article published in the proceedings of ISSAC 2020. arXiv admin note: text overlap with arXiv:1906.06179
Published: 2023
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16. 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
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17. 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
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18. A resilient adaptive sliding mode observer for sensorless AC salient pole machine drives based on an improved HF injection method

Author: Mohamad Koteich, Malek Ghanes, Amir Messali, Mohamed Assaad Hamida, Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Commande (Commande), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST)
Subjects: 0209 industrial biotechnology, Steady state (electronics), Observer (quantum physics), Rotor (electric), Computer science, Applied Mathematics, [SPI.NRJ]Engineering Sciences [physics]/Electric power, 020208 electrical & electronic engineering, 02 engineering and technology, Filter (signal processing), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science Applications, law.invention, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Position (vector), law, 0202 electrical engineering, electronic engineering, information engineering, Benchmark (computing), Transient (oscillation), Electrical and Electronic Engineering, Alternating current, ComputingMilieux_MISCELLANEOUS
Abstract: In high frequency (HF) injection methods, classical tracking algorithms are used to estimate the rotor position for sensorless alternating current (AC) salient pole machines. These algorithms were dependent on AC machine inductances which are characterized by their large variations. To overcome this dependency, a new approach based on using only the sign of the rotor position estimation error (instead of using rotor position estimation error) is proposed. This approach has also the advantage of removing the low-pass filter (LPF) used to separate the HF component from the rotor position information. Consequently, only the first order sliding mode observer can be employed to estimate the rotor position, as only the sign of the rotor position estimation error is known. To avoid the well known chattering phenomena of this observer, an adaptive step-by-step sliding mode observer is proposed as an alternative solution to estimate the rotor position of the machine. The stability study of the proposed observer is analyzed both in transient/steady state ranges and a procedure for gains tuning is then given. The performance of the proposed algorithm is tested on simulation and experimentally in the framework of a representative small-scale electric propulsion benchmark, used in automotive applications. Moreover, a comparison study is conducted with respect to some existing tracking algorithms in order to illustrate the well-founded of the designed algorithm.
Published: 2019
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19. Augmented reality for photovoltaic pumping systems maintenance tasks

Author: Nadia Zenati-Henda, Mohamed Tadjine, Samir Benbelkacem, Abdelkader Bellarbi, Mahmoud Belhocine, Centre de Développement des Technologies Avancées ( CTDA ), Ecole Militaire Polytechnique [Alger] ( EMP ), Ministère de l'Enseignement Supérieur et de la Recherche Scientifique [Algérie]-Ministère de la Défense Nationale, Laboratoire de Commande des Processus ( LCP ), Ecole Nationale Polytechnique [Alger] ( ENP ), Centre de Développement des Technologies Avancées (CDTA), Ecole Militaire Polytechnique [Alger] (EMP), Ministère de l'Enseignement Supérieur et de la Recherche Scientifique [Algérie] (MESRS)-Ministère de la Défense Nationale [Algérie], Laboratoire de Commande des Processus (LCP), and Ecole Nationale Polytechnique [Alger] (ENP)
Subjects: 0209 industrial biotechnology, Engineering, [ INFO ] Computer Science [cs], Renewable Energy, Sustainability and the Environment, business.industry, 020209 energy, Reliability (computer networking), Photovoltaic system, Real-time computing, Maintenance strategy, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], 02 engineering and technology, Overlay, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], 7. Clean energy, Reduction (complexity), 020901 industrial engineering & automation, Order (business), 0202 electrical engineering, electronic engineering, information engineering, [INFO]Computer Science [cs], Augmented reality, business, ComputingMilieux_MISCELLANEOUS, Working environment, Simulation
Abstract: In order to stabilize water supply for remote regions and deserts, it is not only necessary to improve the power generation system, but also to improve its maintenance strategy. Photovoltaic pumping systems need to be maintained periodically. Both maintenance efficiency improvement and reduction of its cost are desired. Augmented Reality (AR) is one of the promising technologies that will be able to improve efficiency in maintenance and reduce human errors. AR expands the surrounding real world by superimposing computer-generated information on a user’s view. It presents the information more intuitively than the legacy interfaces such as paper-based instruction documents. In this paper, an augmented reality platform for photovoltaic pumping system maintenance tasks is proposed. In order to locate the repairer in the working environment and then to overlay the virtual objects, a tracking method is developed. A scenario which takes a user by the hand through maintenance tasks is described. Experiments are conducted in order to evaluate the accuracy and reliability of the proposed tracking method.
Published: 2013
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20. Carleman estimates for the wave equation in heterogeneous media with non-convex interface

Author: Lucie Baudouin, Pamela Godoy, Alberto Mercado, 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), Universidad Tecnica Federico Santa Maria [Valparaiso] (UTFSM), ANR-11-LABX-0040,CIMI,Centre International de Mathématiques et d'Informatique (de Toulouse)(2011), 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: Transmission system, Applied Mathematics, 010102 general mathematics, Wave equation, 02 engineering and technology, [MATH]Mathematics [math], 0101 mathematics, Carleman estimates, 021001 nanoscience & nanotechnology, 0210 nano-technology, 01 natural sciences, Analysis
Abstract: International audience; A wave equation whose main coefficient is discontinuous models the evolution of waves amplitude in a media composed of at least two different materials, in which the propagation speed is different. In our mathematical setting, the spatial domain where the partial differential equation evolves is an open bounded subset of R^2 and the wave speed is assumed to be constant in each one of two sub-domains, separated by a smooth and possibly non-convex interface. This article is concerned with the construction of Carleman weights for this wave operator, allowing generalizations of previous results to the case of an interface that is not necessarily the boundary of a convex set. Indeed, using the orthogonal projection onto this interface, we define convex functions satisfying the transmission conditions imposed by the equation, such that, under usual hypothesis on the sign of the jump of the wave speed, can be used as Carleman weights.
Published: 2022
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21. A novel long short-term memory networks-based data-driven prognostic strategy for proton exchange membrane fuel cells

Author: Chu Wang, Zhongliang Li, Rachid Outbib, Manfeng Dou, Dongdong Zhao, Laboratoire d'Informatique et Systèmes (LIS), Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS), Northwestern Polytechnical University [Xi'an] (NPU), Pronostic-Diagnostic Et CommAnde : Santé et Energie (PECASE), and Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Fuel Technology, Navigation sequence driven long short-term memory networks, Renewable Energy, Sustainability and the Environment, Remaining useful life, [SPI.NRJ]Engineering Sciences [physics]/Electric power, Proton exchange membrane fuel cell, Energy Engineering and Power Technology, Long-term prognostic, Robustness, Condensed Matter Physics, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; Proton exchange membrane fuel cell (PEMFC) long-term prognostic facilitates reducing the time/cost of the durability tests and is a critical starting point for control/maintenance suggestions. Long short-term memory (LSTM) recurrent neural networks have excellent time series processing capabilities and are proved to be useful for the short-term prognostic of PEMFC. However, LSTM prognostic models usually suffer from accumulated errors and model recognition uncertainties, which make it difficult to break the historical degradation data limitations, resulting in unsatisfactory long-term prediction performance. To tackle the problem, this paper proposes a novel model named navigation sequence driven LSTM (NSD-LSTM) for long-term prognostic. In the strategy, a navigation sequence is firstly generated by using an autoregressive integrated moving average model with exogenous variables. The sequence is then fed iteratively into LSTM in the implementation stage to achieve long-term perdition. The proposed strategy is evaluated using the aging experimental data of two types of PEMFC under different operating conditions. The long-term prognostic performance of the proposed model and other two state-of-the-art prognostic models, namely, nonlinear autoregressive exogenous and echo state network, are evaluated through comparison experiments. The simulation and experimental results show that the proposed prognostic strategy has better long-term degradation trend prediction consistency and remaining useful life estimation robustness.
Published: 2022
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22. Photovoltaic System's MPPT Under Partial Shading Using T-S Fuzzy Robust Control

Author: Chaibi, Redouane, El Bachtiri, Rachid, El Hammoumi, Karima, Yagoubi, Mohamed, University of Sidi Mohamed Ben Abdellah, Commande, Observation, Diagnostic et Expérimentation (LS2N - équipe CODEx), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Nantes Université (Nantes Univ), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)
Subjects: Control and Systems Engineering, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract: International audience; This paper deals with a T-S fuzzy robust control achieving maximum power point tracking (MPPT) for photovoltaic (PV) systems under partial shading situations. The aim is to track global maximum power point (GMPP). The T-S fuzzy robust control consists in an optimization approach that overcomes the well-known perturb and observe (P&O) technique drawbacks, such as the decreased tracking efficiency and transient oscillations. For this aim, a photovoltaic generator (PVG) with a DC-DC boost converter and battery energy storage devices are considered. The optimum trajectory is generated using a T-S fuzzy reference model, which must be followed to obtain optimal powerpoint. Solving a set of linear matrix inequalities (LMIs) yields the sought controller gains. A simulation is carried out to show that the tracking performance of the proposed T-S fuzzy robust control is assessed for various partial shading patterns. The results confirm that the T-S fuzzy robust H∞ control strategy ensures global MPP convergence. Furthermore, when compared to the existing solutions, simulations proved that it has better performances.
Published: 2022
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23. Co-design of an event-triggered dynamic output feedback controller for discrete-time LPV systems with constraints

Author: Valter J. S. Leite, Carla de Souza, Sophie Tarbouriech, Eugênio B. Castelan, 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), Centro Federal de Educação Tecnológica de Minas Gerais (CEFET-MG), and Universidade Federal de Santa Catarina = Federal University of Santa Catarina [Florianópolis] (UFSC)
Subjects: Regional stability, Co-design, Output feedback, Lyapunov stability, 0209 industrial biotechnology, Computer Networks and Communications, Computer science, Applied Mathematics, Control (management), 02 engineering and technology, Saturation, Optimal control, Dynamic controller, Linear parameter-varying systems, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Discrete time and continuous time, Exponential stability, Control and Systems Engineering, Control theory, Signal Processing, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Event-triggered control
Abstract: International audience; This paper investigates an event-triggered control design approach for discrete-time linear parametervarying (LPV) systems under control constraints. The proposed conditions can simultaneously design a parameter-dependent dynamic output feedback controller and an event generator, ensuring the closedloop system's regional asymptotic stability. Based on the Lyapunov stability theory, these conditions are given in terms of linear matrix inequalities (LMIs). Moreover, using some proposed optimization procedures, it is possible to minimize the number of sensor transmissions, maximize the estimation of the region of attraction of the origin, and incorporate optimal control criteria into the formulation. Through numerical examples, some comparisons with other approaches in the literature evidence the proposed technique's efficacy.
Published: 2022
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24. Four MPC implementations compared on the Quadruple Tank Process Benchmark: pros and cons of neural MPC*

Author: Clément Blaud, Pierre, Chevrel, Philippe, Claveau, Fabien, Haurant, Pierrick, Mouraud, Anthony, CEA Tech Pays-de-la-Loire (DP2L), CEA Tech en régions (CEA-TECH-Reg), 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)-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), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Commande, Observation, Diagnostic et Expérimentation (LS2N - équipe CODEx), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Nantes Université (Nantes Univ), Département Systèmes Energétiques et Environnement (IMT Atlantique - DSEE), Optimisation - Système - Energie (GEPEA-OSE), Laboratoire de génie des procédés - environnement - agroalimentaire (GEPEA), École nationale vétérinaire, agroalimentaire et de l'alimentation Nantes-Atlantique (ONIRIS)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - Institut Universitaire de Technologie Saint-Nazaire (Nantes Univ - IUT Saint-Nazaire), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-École nationale vétérinaire, agroalimentaire et de l'alimentation Nantes-Atlantique (ONIRIS)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), and Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)
Subjects: Artificial neural network, Control and Systems Engineering, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Model predictive control, ComputingMilieux_MISCELLANEOUS, Quadruple tank process
Abstract: International audience; This study aims to aid understanding of Model Predictive Control (MPC) alternatives through comparing most interesting MPC implementations. This comparison will be performed intrinsically and illustrated using the four-tank benchmark, widely studied by academics taking care of industrial perspectives. Although MPC provides advanced control solutions for a wide class of dynamical systems, challenges arise in managing the compromise between accuracy, computational cost and resilience, depending on the type of model used. In this study, linear, linear time-varying and non-linear MPCs are compared to MPC that uses a neural network based predictive model identified from data. The tuning and implementation methods considered are discussed, and accurate simulation results provided and analyzed. Precisely, the performance of each method (linear, linear time-varying, non-linear MPC) are compared to the neural MPC. Pros and cons of neural MPC are highlighted.
Published: 2022
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25. 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
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26. 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
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27. 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
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28. Integrated sensor fault estimation and control for continuous-time switched systems: A new separation principle

Author: Ayyoub Ait Ladel, Abdellah Benzaouia, Mustapha Ouladsine, Rachid Outbib, Pronostic-Diagnostic Et CommAnde : Santé et Energie (PECASE), Laboratoire d'Informatique et Systèmes (LIS), Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Automatique de l'Environnement et Procédés de Transferts (LAEPT), Faculté des Sciences Semlalia [Marrakech], Université Cadi Ayyad [Marrakech] (UCA)-Université Cadi Ayyad [Marrakech] (UCA), Modélisation, Information et Systèmes - UR UPJV 4290 (MIS), and Université de Picardie Jules Verne (UPJV)
Subjects: Lyapunov stability, 0209 industrial biotechnology, Observer (quantum physics), Computer science, Applied Mathematics, 020208 electrical & electronic engineering, Bilinear interpolation, 02 engineering and technology, Separation principle, Fault (power engineering), Computer Science Applications, Dwell time, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Boost converter, 0202 electrical engineering, electronic engineering, information engineering, State (computer science), Electrical and Electronic Engineering, Instrumentation, ComputingMilieux_MISCELLANEOUS
Abstract: In this paper, we address the state/fault estimation and observer-based control issues for switched systems with sensor faults. The main objective is to estimate sensor faults and compensate for their effects on the system state estimation, and then stabilize the switched system by the estimated state feedback. Applying the mode-dependent average dwell time (MDADT) concept and the Lyapunov stability theory, a new separation principle is developed, which allows formalizing the observer-based controller design in the form of linear matrix inequalities (LMI) instead of bilinear ones. Finally, a highly manoeuvrable aircraft technology (HiMAT) example, a DC–DC boost converter example, and a numerical example are investigated to show the practicability and efficiency of the obtained results.
Published: 2021
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29. 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
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30. 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
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31. A novel technique for dynamic shear testing of bulk metals with application to 304 austenitic stainless steel

Author: Paul Wood, Bin Jia, Raphaël Pesci, Slim Bahi, Alexis Rusinek, Richard Bernier, Laboratoire d'Etude des Microstructures et de Mécanique des Matériaux (LEM3), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), Laboratoire de Conception Fabrication Commande (LCFC), Université de Lorraine (UL)-Arts et Métiers Sciences et Technologies, Université Carlos III de Madrid, Institute of Fundamental Technological Research (IPPT), Polska Akademia Nauk = Polish Academy of Sciences (PAN), and University of Derby [United Kingdom]
Subjects: Matériaux [Sciences de l'ingénieur], Materials science, Dynamic strain rate, [PHYS.MECA.GEME]Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], 02 engineering and technology, [SPI.MAT]Engineering Sciences [physics]/Materials, Stress (mechanics), 0203 mechanical engineering, Shear stress, General Materials Science, Composite material, Finite element modeling, ComputingMilieux_MISCELLANEOUS, Applied Mathematics, Mechanical Engineering, Split-Hopkinson pressure bar, 021001 nanoscience & nanotechnology, Condensed Matter Physics, SIngle-shear specimen, Strength of materials, Shear (sheet metal), Simple shear, 020303 mechanical engineering & transports, Correction coefficient method, Mechanics of Materials, Modeling and Simulation, Deformation (engineering), Shear zone, 0210 nano-technology
Abstract: This paper describes a new single-shear specimen (SSS) and method to characterize the dynamic shear behavior of bulk metals using a traditional Split Hopkinson Pressure Bar (SHPB). By this method, the shear behavior of materials can be tested conveniently over a wide range of strain rates within 105 s−1. This technique was applied to a 304 austenitic stainless steel (ASS) under shear strain rates from 0.001 s−1 to 38700 s−1 at room temperature. Based on finite element (FE) simulations, it was found that the deformation of the specimen shear zone was dominated by shear stress/strain components. Stress state parameters represented by stress triaxiality η and Lode angle parameter θ - were found very close to zero, indicating a deformation mode of simple shear. Besides, an obvious gap existed between the local deformation behavior in the specimen shear zone and the macroscopic stress-strain relations measured by the strain gauges on the SHPB bars. A correction coefficient method was adopted to extract the real shear behavior from the experimentally obtained force-displacement data. Through comparisons between the tested and simulated stress-strain curves, a good agreement was obtained.
Published: 2020
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32. 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
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33. Control of an Underactuated 4 Cable-Driven Parallel Robot using Modified Input-Output Feedback Linearization

Author: Gabriel Abba, Jean-François Antoine, Atal Anil Kumar, Laboratoire de Conception Fabrication Commande (LCFC), Université de Lorraine (UL)-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), and Projet Robotix-Academy
Subjects: Scheme (programming language), 0209 industrial biotechnology, Underactuation, Computer science, Nonlinear control, 020208 electrical & electronic engineering, Stability (learning theory), Parallel manipulator, Input-output feedback linearization, 02 engineering and technology, Underactuated CDPR, Degrees of freedom (mechanics), Automatique / Robotique [Sciences de l'ingénieur], [SPI.AUTO]Engineering Sciences [physics]/Automatic, Internal dynamics, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Feedback linearization, Stability, computer, computer.programming_language
Abstract: This paper presents the control of an underactuated four Cable-Driven Parallel Robot (CDPR) using a modified input-output feedback linearization technique. The effect of internal dynamics (due to the underactuated degrees of freedom of the CDPR) on the behavior of the moving platform is presented to highlight the need of an improved controller to stabilize the system outputs. A modified control scheme is then proposed as a solution to obtain stable system outputs. A structure with two separate branches is modeled to simultaneously act on the control inputs and the mathematical calculations are done using the well-established equations of nonlinear control theory. Following this, the response of the system to the modified control law is then verified by simulation. A comparison between the classical and modified feedback linearization is shown to illustrate the significant improvement in the stabilization of the various parameters such as the cable tensions and platform orientations.
Published: 2020
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34. Reset integral control for improved settling of PID-based motion systems with friction

Author: N. van de Wouw, Andrea Bisoffi, Luca Zaccarian, Henk Nijmeijer, R. Beerens, Wpmh Maurice Heemels, Eindhoven University of Technology [Eindhoven] (TU/e), Royal Institute of Technology [Stockholm] (KTH ), 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 - 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, Department of Mechanical Engineering [Eindhoven], Eindhoven University of Technology [Eindhoven] (TU/e)-Technische Universiteit Eindhoven (TU/e), Dynamics and Control, Control Systems Technology, 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: 0209 industrial biotechnology, Friction, Computer science, Settling time, 020208 electrical & electronic engineering, PID controller, 02 engineering and technology, Transient performance, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Setpoint, 020901 industrial engineering & automation, Hybrid control, Settling, Control and Systems Engineering, Robustness (computer science), Control theory, Hybrid system, Integrator, 0202 electrical engineering, electronic engineering, information engineering, Transient performance, Hybrid control, Motion control, Friction Stability, Electrical and Electronic Engineering, Motion control, Stability, Friction Stability, Motion system
Abstract: International audience; We present a reset control approach to improve the transient performance of a PID-controlled motion system subject to Coulomb and viscous friction. A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time. Robustness for unknown static friction levels is obtained. The closed-loop system is formulated through a hybrid systems framework, within which stability is proven using a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the proposed reset controller is analyzed in an experimental benchmark study of an industrial high-precision positioning machine.
Published: 2019
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35. Saturation based nonlinear PID control for underwater vehicles: Design, stability analysis and experiments

Author: Jesus Guerrero, J. Torres, Vincent Creuze, Eduardo Campos, Ahmed Chemori, Departamento de Control Automático (CINVESTAV-IPN), Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), Image & Interaction (ICAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Conception et commande de robots pour la manipulation (DEXTER), and Universidad del Istmo [Mexico] (UNISTMO)
Subjects: Lyapunov function, 0209 industrial biotechnology, Computer science, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, symbols.namesake, 020901 industrial engineering & automation, Exponential stability, Robustness (computer science), Control theory, Electrical and Electronic Engineering, Underwater, business.industry, Mechanical Engineering, Tracking system, 021001 nanoscience & nanotechnology, Computer Science Applications, Non-linear PID control, Underwater vehicle, Trajectory tracking, Control and Systems Engineering, Control system, symbols, Real-time experiments, Robust control, 0210 nano-technology, business
Abstract: International audience; During sea missions, underwater vehicles are often exposed to changes in the parameters of their control systems and subject to external disturbances due to the influences of ocean currents. These issues make the design of a robust controller quite a challenging task. This paper focuses on the design of a nonlinear PID controller, based on a set of saturation functions for trajectory tracking on an underwater vehicle. The main feature of the proposed control law is that it preserves the advantages of robust control and remains easy to fine-tune in real applications. Using the Lyapunov concept, we prove the asymptotic stability of the closed-loop tracking system. The effectiveness and robustness of our proposed controller for trajectory tracking in depth and yaw dynamics is demonstrated through real-time experiments.
Published: 2019
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36. Prediction of the yield surface evolution and some apparent non-normality effects after abrupt strain-path change using classical plasticity

Author: Yanfeng Yang, Tudor Balan, Laboratoire de Conception Fabrication Commande (LCFC), Université de Lorraine (UL)-Arts et Métiers Sciences et Technologies, and HESAM Université (HESAM)-HESAM Université (HESAM)
Subjects: 010302 applied physics, Materials science, Yield surface, Mechanical Engineering, media_common.quotation_subject, 02 engineering and technology, Plasticity, 021001 nanoscience & nanotechnology, 01 natural sciences, [SPI]Engineering Sciences [physics], Mechanics of Materials, 0103 physical sciences, General Materials Science, Kinematic hardening, Non normality, Statistical physics, 0210 nano-technology, Normality, media_common
Abstract: The two-stage abrupt strain path change method is used to investigate the subsequent yield surface evolution, as predicted by associated J2 plasticity models. Experimental results from the literature have revealed several specificities of the yield surface evolution following such a strain-path change, including formation of a vertex and apparent non-normality. The current study showed that some features of this behavior can be simulated using models based on associated plasticity. Kinematic hardening had the most important effect, together with rate sensitivity and elasticity. The results suggest that some apparent violation of the normality condition can result from the combined effects of kinematic hardening, rate sensitivity and elasticity, even when the normality rule is built into the model.
Published: 2019
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37. A global approach for a consistent identification of static and dynamic phenomena in a PEM Fuel Cell

Author: O. Rallières, Nicolas Chadourne, Julien D'arbigny, Jeremi Regnier, S. El Aabid, E. Soyez, Théophile Hordé, E. Foch, Christophe Turpin, IRT Saint Exupéry - Institut de Recherche Technologique, COmmande et DIAgnostic des Systèmes Electriques (LAPLACE-CODIASE), LAboratoire PLasma et Conversion d'Energie (LAPLACE), Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-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 III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées, Groupe ENergie Electrique et SYStémique (LAPLACE-GENESYS), Zodiac Aérospace, Safran Power Units, Safran Helicopter Engines, and Airbus [France]
Subjects: Materials science, General Computer Science, 020209 energy, Proton exchange membrane fuel cell, 02 engineering and technology, Residual, 7. Clean energy, Spectral line, Theoretical Computer Science, law.invention, [SPI]Engineering Sciences [physics], law, 0202 electrical engineering, electronic engineering, information engineering, Ohmic contact, Electrical impedance, ComputingMilieux_MISCELLANEOUS, Numerical Analysis, Applied Mathematics, [SPI.NRJ]Engineering Sciences [physics]/Electric power, Membrane electrode assembly, 021001 nanoscience & nanotechnology, Modeling and Simulation, Resistor, 0210 nano-technology, Biological system, Current density
Abstract: In this paper, we propose a parameterization process for static and dynamics models dedicated to the analysis of two typical characterizations of a Proton Exchange Membrane Fuel Cell (PEMFC): the polarization curve (V–Icurve) and a set of Electrochemical Impedance Spectroscopies (EIS) carried out for several current densities of this curve. The specificity of the proposed approach is to consider conjointly both characterizations during all the proposed analysis process. This global strategy ensures the separation of the different fuel cell phenomena (activation, diffusion and ohmic) in the static and dynamic domains by imposing, with different ways, an expected consistency between both characterizations. Starting from the measured polarization curve, a first parametric identification is carried out leading to a static model of the Fuel Cell (FC). The EIS data are, at this stage, used to obtain the ohmic resistance of the static model. This is the first consistency forced between both characterizations. By fixing the transfer coefficient to 0.5 (platinum catalysts), it is possible to separate unequivocally the different fuel cell phenomena (activation, diffusion and ohmic) and to identify the different parameters of the laws which describe them in steady state for a given Membrane Electrode Assembly (MEA). In the objective of describing the dynamic of these three phenomena, an identification process for generic models involving RC cells in series and without a priori (number of RC cells not presupposed) is secondly applied to the set of measured EIS. Thanks to time-constant spectra (not classically used in fuel cell world) handled in this approach, the time-constants related to the three phenomena are extracted. The first specificity is to force the consistency between V–I curve and EIS by calculating the activation and diffusion resistances thanks to the derivation of the physical laws used for the static model and parameterized in the first step of our approach. The second specificity consists in forcing the equality between the V–I slope and the “zero-frequency resistor” of the EIS for a given characterized density current. This results in the apparition of a residual part for the impedance involving different suffered phenomena (potentially platinum oxidation, channel pressure oscillations…). The characteristics of this residue are analyzed. To calibrate the proposed method and to demonstrate its sensitivity to changes that may occur in the FC components, experiments concerning a single cell with different sets of components (different membrane thicknesses and different platinum loadings in the Active Layer (AL)) were achieved and analyzed by applying this method. Cyclic voltammetries were carried out in addition of V–I curves and EIS to check the relevancy of the parameters identified through our approach.
Published: 2019
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38. Life cycle assessment for a solar energy system based on reuse components for developing countries

Author: Bunthern Kim, Catherine Azzaro-Pantel, Pascal Maussion, Maria Pietrzak-David, Centre National de la Recherche Scientifique - CNRS (FRANCE), Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE), Université Toulouse III - Paul Sabatier - UT3 (FRANCE), LAboratoire PLasma et Conversion d'Energie (LAPLACE), Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées, Laboratoire de génie chimique [ancien site de Basso-Cambo] (LGC), Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), COmmande et DIAgnostic des Systèmes Electriques (LAPLACE-CODIASE), and Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3)
Subjects: Energie électrique, Computer science, 020209 energy, Strategy and Management, Ingénierie de l'environnement, 02 engineering and technology, Reuse, 7. Clean energy, Industrial and Manufacturing Engineering, Energy storage, Life cycle assessment, 11. Sustainability, 0202 electrical engineering, electronic engineering, information engineering, Environmental impact assessment, Rural electrification, Life-cycle assessment, 0505 law, General Environmental Science, [SDE.IE]Environmental Sciences/Environmental Engineering, Power supply reuse, Renewable Energy, Sustainability and the Environment, business.industry, [SPI.NRJ]Engineering Sciences [physics]/Electric power, 05 social sciences, Photovoltaic system, Environmental economics, Solar energy, Second life applications -Battery reuse, Charge controller, 13. Climate action, 050501 criminology, Sensitivity analysis, business
Abstract: International audience; In many developing countries, the lack of electricity in rural areas is still a key issue for millions of people. The reuse of discarded components in renewable energy systems, based on the frugal innovation concept, has been identified as a solution for rural electrification in countries where renewable resource is plentiful. Specific emphasis is paid in this work to the application of reuse from an engineering viewpoint for a Renewable Energy System, including a “solar” element, composed of solar Photovoltaic (PV) panels and of modified Power Supply Units (PSUs), a “hydro” part and an energy storage system with used car batteries. The scientific objective of this work is to evaluate the environmental impact of this solution, considering only the solar element, as compared to a conventional system consisting of photovoltaic panels, lead-acid batteries, a charge controller and an inverter for small village consumption. For this purpose, Life Cycle Assessment (LCA) has been selected as a methodological framework and both solutions have been described and sized. The results have shown that in the reuse scenario, the impact of PSUs, Uninterruptable Power Supply Units (UPSs) and a microcontroller kit remains very low (0.12% of total impact) while PV modules contribute significantly (66% of total impact). Nevertheless, the consequences of reusing lead-acid batteries are still significant due to the combination of several effects: their weight, reduced efficiency and the need for frequent replacement. A 40% reduction of the environmental burden obtained by the reuse solution is clearly due to the absence of battery production impacts in the case of reuse. A sensitivity analysis has been performed to determine the impact of parameters such as component efficiency, lifetime and transportation distance on environmental impacts. The efficiency of repurposed PSUs and UPSs is the most significant parameter on the environmental impact categories in the reuse solution.
Published: 2019
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39. 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
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40. Trajectory tracking for autonomous underwater vehicle: An adaptive approach

Author: J. Torres, Jesus Guerrero, Ahmed Chemori, Vincent Creuze, Departamento de Control Automático (CINVESTAV-IPN), Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), Image & Interaction (ICAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), and Conception et commande de robots pour la manipulation (DEXTER)
Subjects: Lyapunov function, Environmental Engineering, Adaptive control, Sliding mode control, Computer science, 020101 civil engineering, Ocean Engineering, 02 engineering and technology, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 010305 fluids & plasmas, 0201 civil engineering, symbols.namesake, Control theory, Robustness (computer science), 0103 physical sciences, business.industry, Tracking system, symbols, Trajectory, Underwater vehicles, Real-time experiments, Robust control, business
Abstract: International audience; During sea missions, underwater vehicles are exposed to changes in the parameters of the system and subject to persistent external disturbances due to the ocean current influence. These issues make the design of a robust controller a quite challenging task. This paper focuses on the design of a adaptive high order sliding mode control for trajectory tracking on an underwater vehicle. The main feature of the developed control law is that it preserves the advantages of robust control, it does not need the knowledge of the upper bound of the disturbance and easy tuning in real applications. Using Lyapunov concept, asymptotic stability of the closed-loop tracking system is ensured. The effectiveness and robustness of the proposed controller for trajectory tracking in depth and yaw dynamics are demonstrated through real-time experiments.
Published: 2019
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41. On the design of a preshaped curved beam bistable mechanism

Author: Gilles Bourbon, Rafic Younes, Hussein Hussein, Philippe Lutz, Yassine Haddab, Patrice Le Moal, 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), Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)
Subjects: 0209 industrial biotechnology, Optimization problem, Bistability, Computer science, Mechanical engineering, [SDV.CAN]Life Sciences [q-bio]/Cancer, Bioengineering, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, 0203 mechanical engineering, Deflection (engineering), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Miniaturization, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, Design methods, Microelectromechanical systems, Mechanical Engineering, Preshaped curved beam, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Computer Science Applications, 020303 mechanical engineering & transports, Buckling, Mechanics of Materials, Design methodology, Curved beam
Abstract: International audience; The preshaped curved beam is used as bistable mechanism in MEMS, its behavior is characterized by the snapping forces and stresses that evolve during deflection between the two sides of buckling. Based on analytical models, the influence of variating the material and dimension parameters on the behavior of the curved beam is analyzed. The limit of miniaturization of the beam based on the stress limits is identified. Further, a design optimization methodology is provided which allows selecting the miniature dimensions of the curved beam after defining the range of possible dimensions. This method ensures a required bistablity behavior in terms of stroke and holding forces, while respecting the design requirement. Several design constraints are defined including material and technological limitations and some other specifications. The results in different cases of optimization problems showed to be the same using a proposed optimization methodology and a standard gradient based optimization algorithm.
Published: 2019
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42. Impact of an interface electrode charge and materials polarization to a conductive interface crack

Author: V. Loboda, A. Sheveleva, F. Chapelle, Y. Lapusta, Institut Pascal (IP), SIGMA Clermont (SIGMA Clermont)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS), ANR-16-IDEX-0001,CAP 20-25,CAP 20-25(2016), and ANR-20-CE33-0005,MANIMAT,Approche intégrée matériaux actifs-procédé-commande pour la manipulation dextre avec préhenseurs souples(2020)
Subjects: Mechanics of Materials, Mechanical Engineering, General Materials Science, Condensed Matter Physics, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic, Civil and Structural Engineering
Abstract: International audience
Published: 2022
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43. Design and comparison of two advanced core control systems for flexible operation of pressurized water reactors

Author: Guillaume Dupré, Philippe Chevrel, Mohamed Yagoubi, Alain Grossetête, Commande, Observation, Diagnostic et Expérimentation (LS2N - équipe CODEx), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Nantes Université (Nantes Univ), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), and FRAMATOME
Subjects: Control and Systems Engineering, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Applied Mathematics, Electrical and Electronic Engineering, ComputingMilieux_MISCELLANEOUS, Computer Science Applications
Abstract: International audience
Published: 2022
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44. Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steering

Author: Guillaume Lapouge, Jocelyne Troccaz, Philippe Poignet, Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Gestes Medico-chirurgicaux Assistés par Ordinateur (TIMC-IMAG-GMCAO), Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 (TIMC-IMAG), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-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 )-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), and ANR-11-LABX-0004,CAMI,Gestes Médico-Chirurgicaux Assistés par Ordinateur(2011)
Subjects: 0209 industrial biotechnology, Computer science, 0206 medical engineering, Context (language use), 02 engineering and technology, Kinematics, Curvature, Surgical robotics, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, medicine, 3D ultrasound, Computer vision, Electrical and Electronic Engineering, Multi-rate unscented Kalman filter, 3D ultrasound imaging, medicine.diagnostic_test, Robotic sensing, business.industry, Needle steering, Applied Mathematics, Kalman filter, 020601 biomedical engineering, Computer Science Applications, Control and Systems Engineering, Trajectory, Artificial intelligence, Elastography, business
Abstract: International audience; This paper presents a new method for estimating the needle pose and curvature in the context of robotically steered needles. The needle tip trajectory is represented by a modified unicycle kinematic model. A multi-rate unscented Kalman filter is proposed for the first time in needle steering to fuse asynchronous data coming from 3D B-mode ultrasound images, robot sensors and pre-operative elastography measurements. To demonstrate it, 51 unconstrained 3D insertions have been made in various media. The instantaneous localisation error is smaller than 0.6 mm and the prediction of the final tip position is smaller than 2 mm based on the observation of the first 2 cm of 8 cm deep insertions.
Published: 2018
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45. Determining projection constants of univariate polynomial spaces

Author: Simon Foucart, Jean B. Lasserre, Department of Mathematics [Texas A&M University], Texas A&M University [College Station], 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, NSF Grant DMS 1622134, European Project: 666981,H2020,ERC-2014-ADG,TAMING(2015), 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: AMS classification: 41A44, Polynomial, Pure mathematics, projection constant, General Mathematics, 65K05, 010103 numerical & computational mathematics, 90C22, [MATH.MATH-FA]Mathematics [math]/Functional Analysis [math.FA], programming, 01 natural sciences, Upper and lower bounds, 90C47, Projection (mathematics), Quartic function, FOS: Mathematics, Mathematics - Numerical Analysis, Uniqueness, 0101 mathematics, 41A44 65K05 90C22 90C47, Mathematics - Optimization and Control, Mathematics, Numerical Analysis, method of moments, semidefinite, Applied Mathematics, 010102 general mathematics, Univariate, linear programming, Numerical Analysis (math.NA), Functional Analysis (math.FA), Quintic function, Mathematics - Functional Analysis, Minimal projection, Optimization and Control (math.OC), [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Constant (mathematics), [MATH.MATH-NA]Mathematics [math]/Numerical Analysis [math.NA], Analysis
Abstract: International audience; The long-standing problem of minimal projections is addressed from a computational point of view. Techniques to determine bounds on the projection constants of univariate polynomial spaces are presented. The upper bound, produced by a linear program, and the lower bound, produced by a semidefinite program exploiting the method of moments, are often close enough to deduce the projection constant with reasonable accuracy. The implementation of these programs makes it possible to find the projection constant of several three-dimensional spaces with five digits of accuracy, as well as the projection constants of the spaces of cubic, quartic, and quintic polynomials with four digits of accuracy. Beliefs about uniqueness and shape-preservation of minimal projections are contested along the way.
Published: 2018
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46. Integrated product-process design: Material and manufacturing process selection for additive manufacturing using multi-criteria decision making

Author: Mickaël Rivette, Ali Siadat, Uzair Khaleeq uz Zaman, Seyed Meysam Mousavi, Laboratoire de Conception Fabrication Commande (LCFC), Université de Lorraine (UL)-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), and Shahed University [Téhéran]
Subjects: 0209 industrial biotechnology, Additive manufacturing, Computer science, Emerging technologies, Process (engineering), General Mathematics, Mass customization, Integrated product-process design, Process design, 02 engineering and technology, Sciences de l'ingénieur, Industrial and Manufacturing Engineering, Multi-criteria decision making, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Concurrent engineering, Design for additive manufacturing, business.industry, 021001 nanoscience & nanotechnology, Manufacturing engineering, Computer Science Applications, Design for manufacturability, Product (business), Control and Systems Engineering, New product development, Material and process selection, 0210 nano-technology, business, Software
Abstract: International audience; Market dynamics of today are constantly evolving in the presence of emerging technologies such as Additive Manufacturing (AM). Drivers such as mass customization strategies, high part-complexity needs, shorter prod- uct development cycles, a large pool of materials to choose from, abundant manufacturing processes, diverse streams of applications (e.g. aerospace, motor vehicles, and health care) and high cost incurred due to manufac- turability of the part have made it essential to choose the right compromise of materials, manufacturing processes and associated machines in early stages of design considering the Design for Additive Manufacturing guidelines. There exists a complex relationship between AM products and their process data. However, the literature to-date shows very less studies targeting this integration. As several criteria, material attributes and process function- ality requirements are involved for decision making in the industries, this paper introduces a generic decision methodology, based on multi-criteria decision-making tools, that will not only provide a set of compromised AM materials, processes and machines but will also act as a guideline for designers to achieve a strong foothold in the AM industry by providing practical solutions containing design oriented and feasible material-machine com- binations from a current database of 38 renowned AM vendors in the world. An industrial case study, related to aerospace, has also been tested in detail via the proposed methodology.
Published: 2018
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47. Measurement of absolute K X-ray emission intensities in the decay of 103m Rh

Author: Marie-Christine Lépy, M.A. Kellett, I. Tartes, Jonathan Riffaud, D. Lacour, Margot Corbel, V. Lourenço, C. Domergue, Christophe Destouches, O. Vigneau, Philippe Cassette, H. Carcreff, Laboratoire National Henri Becquerel (LNHB), Département Métrologie Instrumentation & Information (DM2I), Laboratoire d'Intégration des Systèmes et des Technologies (LIST (CEA)), 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)-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)-Université Paris-Saclay-Laboratoire d'Intégration des Systèmes et des Technologies (LIST (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université Paris-Saclay-Département d'instrumentation Numérique (DIN (CEA-LIST)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA), Laboratoire de Dosimétrie, de Contrôle-commande et Instrumentation (LDCI), Service Physique EXpérimentale, d'essais en Sûreté et d'Instrumentation (SPESI), Département Etude des Réacteurs (DER), CEA-Direction des Energies (ex-Direction de l'Energie Nucléaire) (CEA-DES (ex-DEN)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-CEA-Direction des Energies (ex-Direction de l'Energie Nucléaire) (CEA-DES (ex-DEN)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Département Etude des Réacteurs (DER), Département des Réacteurs et des Services Nucléaires (DRSN), Commissariat à l'énergie atomique et aux énergies alternatives (CEA), Laboratoire d'Analyses Radiochimiques et Chimiques (LARC), Service d'Analyses, d'Elaboration, d'Expérientations et d'Examens des combustibles (SA3E), Département d'Etudes des Combustibles (DEC), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Département d'Etudes des Combustibles (DEC), Laboratoire d'Intégration des Systèmes et des Technologies (LIST), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université Paris-Saclay-Laboratoire d'Intégration des Systèmes et des Technologies (LIST), and Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université Paris-Saclay
Subjects: TDCR method, Reactor dosimetry, Physics::Instrumentation and Detectors, Analytical chemistry, chemistry.chemical_element, [PHYS.NEXP]Physics [physics]/Nuclear Experiment [nucl-ex], Mass spectrometry, 01 natural sciences, 7. Clean energy, Coincidence, Rhodium, spectrometry, Photon emission intensity, Ratio method, X-rays, 0103 physical sciences, photons, 010306 general physics, liquid scintillator, X-ray spectrometry, Radiation, detector, 010308 nuclear & particles physics, Chemistry, Decay data measurement, Liquid scintillation counting, X-ray, Primary activity measurement, Triple-to-Double Coincidence Ratio, Semiconductor detector, metrology, Photon emission, radioactivity, [SPI.OPTI]Engineering Sciences [physics]/Optics / Photonic, ionizing radiation, Rh-103m
Abstract: Proceedings of the 21st International Conference on Radionuclide Metrology and its Applications (ICRM), 15-19 May 2017, Buenos Aires, Argentina. Organizer: Argentinian Comis Nacl Energia Atomica; International audience; A new experiment was designed to measure the photon emission intensities in the decay of $^{103m}$Rh. The rhodium samples were activated in the ISIS experimental nuclear reactor at CEA Saclay. The procedure includes an absolute activity measurement by liquid scintillation counting using the Triple-to-Double Coincidence Ratio method, followed by X-ray spectrometry using a high-purity germanium detector to determine the photon emission intensities. The new result I$_x$ = 0.0825 (17)) is derived with a significant reduction of the uncertainty.
Published: 2018
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48. The cross-coupling of lateral-longitudinal vehicle dynamics: Towards decentralized Fault-Tolerant Control Schemes

Author: Luc Dugard, Olivier Sename, Diana Hernandez-Alcantara, Ruben Morales-Menendez, Luis Amezquita-Brooks, Tecnológico de Monterrey (ITESM), Universidad Autónoma de Nuevo León - UANL (MEXICO), GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR), 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]), LPVDynFinancé en partie par le projet LPVDyn : Approche Linéaire à Paramètres Variants pour l’observation, le diagnostic et la commande de dynamique des véhicules (Linear Parameter Varying approaches for estimation, diagnosis and control of vehicle dynamics) dans le cadre du PCP/RU2I Réseau Universitaire pour l’Innovation Industrielle Mexique (PCP franco-mexicain)., Tecnológico de Monterrey ( ITESM ), SLR ( GIPSA-SLR ), Département Automatique ( GIPSA-DA ), Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Grenoble Images Parole Signal Automatique ( GIPSA-lab ), and Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA )
Subjects: Scheme (programming language), 0209 industrial biotechnology, Engineering, Control (management), 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Vehicle dynamics, 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, coupling dynamics, Electrical and Electronic Engineering, computer.programming_language, Coupling, business.industry, Mechanical Engineering, Multivariable calculus, vehicle dynamics, 020302 automobile design & engineering, Control engineering, Fault tolerance, Steering control, fault detection, Computer Science Applications, Fault tolerant control, Control and Systems Engineering, Control system, business, computer
Abstract: Publication électronique en juillet 2017; publication au format papier en avril 2018. L'article final contient 17 pages.; International audience; In recent years there has been an increasing interest in improving vehicle characteristics through the use of Vehicle Control Systems (VCS). In particular, VCS for the lateral (steering) and longitudinal (velocity) dynamics are used to improve the handling properties of a vehicle. Nonetheless, the introduction of the additional elements required for implementing these control systems also increases the possibility of faults. This problem can be mitigated by using Fault Tolerant Control(FTC) systems. The most common approach for steering FTC design is based on the use of a linear Bicycle Model (BM). Using this model decentralized steering controllers can be designed. However, the BM lacks significant lateral and longitudinal cross-coupling dynamics. In fact, the steering and velocity control problem could be viewed as a multivariable cross-coupled problem. In this article VCS for the steering and velocity are designed. The resulting controllers are decentralized and capable of practically eliminating the cross-coupling. A further problem, which has not been widely reported, is the propagation of the failure of one subsystem to other subsystems. It is shown that when the Velocity Control System (VelCS) fails, then the steering subsystem has a degraded performance due to cross-coupling. The main contribution of this article consists in showing that it is possible to detect and accommodate a failure of the VelCS within the steering control system, i.e. without requiring communication among subsystems. This enables a fully independent operation even if faults occur, that is a Decentralized Fault-Tolerant Control Scheme.
Published: 2018
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49. Performance Visualization in Industrial Systems for Informed Decision Making

Author: Liaqat Ali Shah, François B. Vernadat, Ali Siadat, Alain Etienne, COMSATS Institute of Information Technology [Islamabad] (CIIT), Laboratoire de Conception Fabrication Commande (LCFC), Université de Lorraine (UL)-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), Laboratoire de Génie Informatique, de Production et de Maintenance (LGIPM), and Université de Lorraine (UL)
Subjects: Decision support system, Computer science, Decision Support, Sciences de l'ingénieur, computer.software_genre, Upper and lower bounds, Performance Measurement Systems, [SPI]Engineering Sciences [physics], Information visualization, Information Visualization, 0502 economics and business, Performance measurement, ComputingMilieux_MISCELLANEOUS, business.industry, 05 social sciences, 050201 accounting, Risk measures, Visualization, Value theory, Control and Systems Engineering, Industrial systems, Graph (abstract data type), Data mining, business, computer, 050203 business & management, Value
Abstract: Information visualization is a key component of many decision support tools in sciences and engineering. Graph is a visual construct that is widely used to model information for visualization. In this paper, a value-risk graph is proposed to visualize the results of value-risk based performance measurement systems (PMSs). The proposed graph for PMS divides the overall performance of industrial systems into distinct zones to facilitate the decision-making process. The upper bound, lower bound, and target value of each measure are decided by the performance evaluator and, then, transformed into normalized values using value theory principles. The aggregation of normalized measures along value and risk lines when combined defines “highly desirable”, “feasible”, ”risky”, and “unacceptable” zones. Scenario performance data when plotted on the graph visualize the overall performance of the system in terms of value and risk. The proposed decision-making value-risk graph is illustrated with an example dealing with manufacturing process design but it can be applied to any kind of system evaluation.
Published: 2018
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50. Tolerancing: Managing uncertainty from conceptual design to final product

Author: Luc Mathieu, Nabil Anwer, Rikard Söderberg, Xiangqian Jiang, Ahmed Jawad Qureshi, Giovanni Moroni, Jean-Yves Dantan, Edward P. Morse, University of North Carolina [Charlotte] (UNC), University of North Carolina System (UNC), Laboratoire de Conception Fabrication Commande (LCFC), Université de Lorraine (UL)-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), Laboratoire Universitaire de Recherche en Production Automatisée (LURPA), École normale supérieure - Cachan (ENS Cachan)-Université Paris-Sud - Paris 11 (UP11), École normale supérieure - Cachan (ENS Cachan), Chalmers University of Technology [Göteborg], Politecnico di Milano [Milan] (POLIMI), University of Alberta, and University of Huddersfield
Subjects: 0209 industrial biotechnology, Design, Ideal (set theory), Computer science, Mechanical Engineering, Final product, Uncertainty, 0211 other engineering and technologies, 02 engineering and technology, Sciences de l'ingénieur, Product function, Industrial and Manufacturing Engineering, Field (computer science), [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Risk analysis (engineering), Conceptual design, Order (exchange), Tolerancing, Design, Tolerancing, Uncertainty, 021106 design practice & management
Abstract: International audience; Variability is unavoidable in the realization of products. While design must specify ideal geometry, it shall also describe limits of variability (tolerances) that must be met in order to maintain proper product function. Although tolerancing is a mature field, new manufacturing processes and design methodologies are creating new avenues of research, and modelling standards must also evolve to support these processes. In addition, the study of uncertainty has produced widely-accepted methods of quantifying variability, and modern tolerancing tools should support these methods. The challenges introduced by new processes and design methodologies continue to make tolerancing research a fertile and productive area.
Published: 2018
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