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8 results on '"Vadim Azhmyakov"'

1. On the LQ Based Stabilization for a Class of Switched Dynamic Systems

Author

Vadim Azhmyakov, Jean Jacques Loiseau, Michel Malabre, Moises Bonilla, M.A. Ortiz Castillo, Departamento de Control Automático (CINVESTAV-IPN), Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), 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), 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 EAFIT University

Subjects
Lyapunov stability, 0209 industrial biotechnology, Algebraic structure, Computer science, 020208 electrical & electronic engineering, Structure (category theory), 02 engineering and technology, State (functional analysis), Type (model theory), switched dynamic systems, linear quadratic regulator (LQR), Algebraic Riccati equation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Riccati equation, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, implicit control systems, Representation (mathematics)
Abstract

International audience; This paper deals with the stabilization of a class of time-dependent linear autonomous systems with a switched structure. For this aim, the switched dynamic system is modeled by means of an implicit representation combined with a Linear-Quadratic (LQ) type control design. The proposed control design stabilizes the resulting system for all of the possible realizations of its locations. In order to solve the Algebraic Riccati Equation (ARE) associated with the LQ control strategy one only needs the knowledge of the algebraic structure related to the switched system. We finally prove that the proposed optimal LQ type state feedback stabilizes the closed-loop switched system no matter which location is active. The proposed theoretical approaches are illustrated by a numerical example.

Published
2020

2. Synthesis of a robust linear structural feedback linearization scheme for an experimental quadrotor

Author

Michel Malabre, Moises Bonilla, Sergio Salazar, L. A. Blas, Vadim Azhmyakov, Laboratoire Franco-Mexicain d'Informatique et d'Automatique (LAFMIA), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV)-Université de Technologie de Compiègne (UTC)-Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), 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), and Universidad de Medellin

Subjects
Scheme (programming language), 0209 industrial biotechnology, Computer science, media_common.quotation_subject, 020208 electrical & electronic engineering, Structure (category theory), 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Simplicity, Feedback linearization, Robust control, Control (linguistics), computer, media_common, Linear control, computer.programming_language
Abstract

International audience; In this paper, we show in detail a synthesis procedure of the control scheme recently proposed in [3]. This control scheme has the advantage of combining the classical linear control techniques with the sophisticated robust control techniques. This control scheme is specially ad hoc for unmanned aircraft vehicles, where it is important not only to reject the actual nonlinearities and the unexpected changes of the structure, but also to look for the simplicity and effectiveness of the control scheme. I. INTRODUCTION Recently, there has been a great interest in finding simple and effective control schemes for unmanned aircraft vehicles, able to reject the actual nonlinearities and the unexpected changes of structure. In [6], the authors present two types of nonlinear controllers for an autonomous quadrotor helicopter. However, to program this control scheme in the embedded autopilot of the quadrotor is rather difficult due to the needed derivative estimations. In [13], the authors present attitude and trajectory tracking control designs based on an inner/outer-loop control structure for normal flight conditions. Once again, to program this control scheme in the embedded autopilot of the quadrotor is rather difficult due to the needed derivative estimations. In [7], the authors propose a robust controller based on the timescale separation approach to achieve the automatic takeoff , hovering, trajectory tracking, and landing missions for a quadrotor helicopter. The authors only show experimental results in indoor environments. In this paper, we present a synthesis procedure of the recently robust linear control scheme proposed in [3], which is based on failure detection techniques. Such a linear control approach is intended to reject linearly structured uncertainties, which are treated as failure signals affecting the systems dynamics. The implementability and efficiency of the proposed robust control methodology is illustrated with a quadrotor laboratory prototype in hover flying. We present simulation results and experimental results in open field (outdoor environments).

Published
2019

3. Advances of Implicit Description Techniques in Modelling and Control of Switched Systems

Author

Michel Malabre, Moisés Bonilla Estrada, Vadim Azhmyakov, Departamento de Control Automático (CINVESTAV-IPN), Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), 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), EAFIT University, Elena Zattoni, Anna Maria Perdon, and Guiseppe Conte

Subjects
0209 industrial biotechnology, Class (computer programming), Property (programming), Computer science, 020208 electrical & electronic engineering, Context (language use), Control engineering, 02 engineering and technology, Constructive, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Reachability, 0202 electrical engineering, electronic engineering, information engineering, System framework, Robust control, Control (linguistics)
Abstract

International audience; Our contribution is devoted to a constructive overview over the implicit system approach in modern control of switched dynamic models. We study a class of non-stationary autonomous switched systems and formally establish the existence of solution. We next incorporate the implicit systems approach into our consideration. At the beginning of the contribution we also develop a specific system example that is used for illustrations of various system aspects that we consider. Our research involves among others a deep examination of the reachability property in the framework of the implicit system framework that we propose. Based on this methodology we finally propose a resulting robust control design for the switched systems under consideration and the proposed control strategy is implemented in the context of the illustrative example.

Published
2019
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4. Structural feedback linearization based on nonlinearities rejection

Author

Michel Malabre, Luis Blas, Vadim Azhmyakov, Moises Bonilla, Sergio Salazar, 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), 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), Universidad de Medellin, Laboratoire Franco-Mexicain d'Informatique et d'Automatique (LAFMIA), and Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV)-Université de Technologie de Compiègne (UTC)-Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])

Subjects
0209 industrial biotechnology, Engineering, business.industry, 020208 electrical & electronic engineering, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], Control engineering, 02 engineering and technology, System dynamics, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Attitude control, Nonlinear system, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Simple (abstract algebra), 0202 electrical engineering, electronic engineering, information engineering, Feedback linearization, business, ComputingMilieux_MISCELLANEOUS, Linear control
Abstract

In this paper, a structural feedback linearization technique is proposed. This is a quite simple and effective linear control scheme based on failure detection techniques. Our proposed linear control approach is intended to reject the nonlinearities, which are treated as failure signals affecting the systems dynamics. The proposed control methodology is illustrated via the attitude control of a quadrotor in hover flying.

Published
2017

5. Decoupling of internal variable structure for a class of switched systems

Author

Vadim Azhmyakov, Moises Bonilla, Michel Malabre, Laboratoire Franco-Mexicain d'Informatique et d'Automatique (LAFMIA), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV)-Université Joseph Fourier - Grenoble 1 (UJF)-Université de Technologie de Compiègne (UTC)-Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT)-Centre National de la Recherche Scientifique (CNRS), Departamento de Control Automático (CINVESTAV-IPN), Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), 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), and Universidad de Medellin

Subjects
0209 industrial biotechnology, Class (set theory), Structure (category theory), 02 engineering and technology, Derivative, Decoupling (cosmology), 01 natural sciences, Unobservable, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 010104 statistics & probability, Variable (computer science), 020901 industrial engineering & automation, Aerospace electronics, Control theory, Internal variable, 0101 mathematics, ComputingMilieux_MISCELLANEOUS, Mathematics
Abstract

We consider particular linear switched systems (LSS) with autonomous transitions, that we model by rectangular implicit representations. We design proper approximations for proportional and derivative descriptor variable feedback laws that were previously proposed for making unobservable (decoupling) the effect of the variable structure, and guarantee BIBO-stability for the switched controlled system. An example is used for illustration.

Published
2015

6. An implicit systems characterization of a class of impulsive linear switched control processes. Part 1: Modeling

Author

Vadim Azhmyakov, Michel Malabre, Moises Bonilla, 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), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Class (set theory), Ode, Computer Science Applications, Piecewise linear function, Systems theory, Control and Systems Engineering, Control theory, Control system, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Algebraic number, Control (linguistics), Representation (mathematics), Analysis, ComputingMilieux_MISCELLANEOUS, Mathematics
Abstract

Our paper focuses on a fundamental structural property associated with a family of linear switched control systems in the presence of impulsive dynamics. We consider dynamic processes governed by piecewise linear ODEs with controlled location transitions. Using the newly developed implicit systems characterization technique, we rewrite the initially given impulsive switched system as an implicit dynamic model. This auxiliary representation of the original control system makes it possible to hide the switched phenomenon and to apply the conventional approach to the resulting implicit dynamic model. The proposed algebraic-based modeling framework follows the celebrated behavioral approach (see Polderman and Willems, 1998) and makes it possible to apply to the switched dynamics some classic techniques from the well-established time-invariant implicit systems theory. The analytic results of our paper constitute a formal theoretical extension of switched control systems methodology and can be used (as an auxiliary step) in a concrete control design procedure. The second part of our manuscript is devoted to control aspects.

Published
2015
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7. Attractive Ellipsoids in Robust Control

Author

Poznyak, A., Polyakov, A., Vadim Azhmyakov, Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Non-Asymptotic estimation for online systems (NON-A), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
0209 industrial biotechnology, 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, 02 engineering and technology
Abstract

International audience; This monograph introduces a newly developed robust control design technique for a wide class of continuous-time dynamical systems called the “attractive ellipsoid method.” Along with a coherent introduction to the proposed control design and related topics, the monograph studies nonlinear affine control systems in the presence of uncertainty and presents a constructive and easily implementable control strategy that guarantees certain stability properties. The authors discuss linear-style feedback control synthesis in the context of the above-mentioned systems.The development and physical implementation of high-performance robust-feedback controllers that work in the absence of complete information is addressed, with numerous examples to illustrate how to apply the attractive ellipsoid method to mechanical and electromechanical systems. While theorems are proved systematically, the emphasis is on understanding and applying the theory to real-world situations.Attractive Ellipsoids in Robust Control will appeal to undergraduate and graduate students with a background in modern systems theory as well as researchers in the fields of control engineering and applied mathematics.

Published
2014
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8. Consistent approximations and variational description of some classes of sliding mode control processes

Author

Alexander S. Poznyak, Vadim Azhmyakov, Andrey Polyakov, Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Non-Asymptotic estimation for online systems (NON-A), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Mathematical optimization, Control algorithm, Computer Networks and Communications, Approximations of π, Applied Mathematics, System optimization, Constructive, Sliding mode control, Formalism (philosophy of mathematics), Differential inclusion, Control and Systems Engineering, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Signal Processing, Applied mathematics, Mathematics
Abstract

International audience; This paper is devoted to constructive approximations and an alternative theoretic characterization of some classes of sliding mode control processes. We construct the consistent approximations of the differential inclusions associated with the 1rst order variable structures dynamics and also propose a variational description of the sliding mode control in the framework of an auxiliary Hamiltonian based formalism. A trajectory of the closed-loop systems can be then constructively specifed as a result of a particular system optimization procedure applied to the original model. The presented approximations and variational description of the sliding mode-type control design can provide a new analytic basis for constructive numerical schemes and implementable control algorithms. The mathematical tool elaborated in our contribution constitutes a formal extension of the classic Fillipovs results.

Published
2013
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