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Your search keyword '"Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (BIPOP)"' showing total 4 results
Start Over Author "Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (BIPOP)" Publisher springer berlin heidelberg
4 results on '"Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (BIPOP)"'

1. Multiple Impacts in Granular Chains

Author

Ngoc-Son Nguyen, Bernard Brogliato, Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (BIPOP), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Jean Kuntzmann (LJK), and Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)

Subjects
Index (economics), Chain (algebraic topology), [SPI.MECA.STRU]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Structural mechanics [physics.class-ph], Consistency (statistics), Dispersion (optics), Statistical physics, Kinematics, Index of dispersion, Dissipation, Kinetic energy, Mathematics
Abstract

International audience; This chapter presents general features of the dynamics of chains of aligned balls. The dissipation and the dispersion of the kinetic energy at an impact are studied, independently of any impact law. A dispersion index and a dissipation index are defined, which will be used all through the next chapters. Optimization under constraints is used to analyze the variations of these two indices, where the constraints are imposed by the physics (momentum conservation, energetic consistency, kinematic consistency). A 3-ball chain is analyzed in detail.

Published
2014
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2. Some Remarks on Delay Effects in Motion Synchronization in Shared Virtual Environments

Author

Joono Cheong, Silviu-Iulian Niculescu, Irinel-Constantin Morarescu, Yonghwan Oh, Korea University [Seoul], Laboratoire des signaux et systèmes (L2S), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Department of Electrical Engineering [Korea Advanced Institute of Science and Technology] (KAIST), Korea Advanced Institute of Science and Technology (KAIST), Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (BIPOP), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Jean Kuntzmann (LJK), Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF), French-South Korean bilateral cooperation [16578ZC], Loiseau, JJ, Michiels, W, Niculescu, SI, Sipahi, R, Department of Control and Instrumentation Engineering, Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Springer, LE PIOLET, DELPHINE, and Korea University

Subjects
Smith predictors, delay, Computer science, Distributed computing, synchronisation, Stability (learning theory), 020207 software engineering, 02 engineering and technology, stability, computer.software_genre, 01 natural sciences, Motion synchronization, Synchronization, Smith predictor, 010101 applied mathematics, virtual environments, Virtual machine, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Data synchronization, 0101 mathematics, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, computer, Simulation
Abstract

International audience; This paper addresses the motion synchronization problem in shared virtual environments in the presence of communication delays. More precisely, we consider the case of multiple users interacting with the same dynamics. Unlike the conventional synchronization, the technological attempt we are interested in pursues a more robust and better synchronization that gives an almost concurrent evolution of motions between the distributed systems in absolute time-frame (earth's time). Physically, the existence of time delay prevents immediate information exchange, which disables concurrent motions between the distributed systems. Using the delay information available, the proposed controller preserves natural local dynamics and compensate for de-synchronization error caused by mismatched initial conditions. Simulation tests are conducted in order to validate the considered methodology.

Published
2009
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3. Fast Direct Multiple Shooting Algorithms for Optimal Robot Control

Author

Holger Diedam, Hans Georg Bock, Pierre-Brice Wieber, Moritz Diehl, Interdisciplinary Center for Scientific Computing (IWR), Universität Heidelberg [Heidelberg], Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (BIPOP), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and Universität Heidelberg [Heidelberg] = Heidelberg University

Subjects
Model predictive control, Shooting method, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Nonlinear control, Optimal control, Algorithm, Direct multiple shooting method, Nonlinear programming, Mathematics, Robot control, Sequential quadratic programming
Abstract

International audience; In this overview paper, we first survey numerical approaches to solve nonlinear optimal control problems, and second, we present our most recent algorithmic developments for real-time optimization in nonlinear model predictive control. In the survey part, we discuss three direct optimal control approaches in detail: (i) single shooting, (ii) collocation, and (iii) multiple shooting, and we specify why we believe the direct multiple shooting method to be the method of choice for nonlinear optimal control problems in robotics. We couple it with an efficient robot model generator and show the performance of the algorithm at the example of a five link robot arm. In the real-time optimization part, we outline the idea of nonlinear model predictive control and the real-time challenge it poses to numerical optimization. As one solution approach, we discuss the real-time iteration scheme.

Published
2007
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4. Position and Force Control of Nonsmooth Lagrangian Dynamical Systems Without Friction

Author

Pierre-Brice Wieber, Sophie Chareyron, Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (BIPOP), Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Lyapunov stability, symbols.namesake, Dynamical systems theory, Control theory, Position (vector), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, symbols, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], State (functional analysis), Control (linguistics), Lagrangian, Mathematics
Abstract

International audience; Analyses of position and force control laws in the case of perfectly rigid bodies have been made so far with strong assumptions on the state of the contacts such as supposing that they are permanent. We're interested here in having a look at what happens when no such assumptions is made: we are led therefore to propose a Lyapunov stability analysis of a position and force control law in the mathematical frame-work of nonsmooth Lagrangian dynamical systems, a typical example of hybrid dynamical systems.

Published
2005
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