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2,264 results on '"Commande"'

1. Ghana at Fifty: Moving Toward Kwame Nkrumah's Pan-African Dream

Author: Commander, Michelle D
Published: 2007
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2. Molecular profiling of cutaneous squamous cell carcinomas and actinic keratoses from organ transplant recipients

Author: Hameetman Liesbeth, Commandeur Suzan, Bavinck Jan Nico Bouwes, Wisgerhof Hermina C, de Gruijl Frank R, Willemze Rein, Mullenders Leon, Tensen Cornelis P, and Vrieling Harry
Subjects: Cutaneous squamous cell carcinoma, Non-melanoma skin cancer, Actinic keratosis, Organ transplant recipient, Gene expression, Genomic profiling, Neoplasms. Tumors. Oncology. Including cancer and carcinogens, RC254-282
Abstract: Abstract Background The risk of developing cutaneous squamous cell carcinoma (SCC) is markedly increased in organ transplant recipients (OTRs) compared to the normal population. Next to sun exposure, the immunosuppressive regimen is an important risk factor for the development of SCC in OTRs. Various gene mutations (e.g. TP53) and genetic alterations (e.g. loss of CDKN2A, amplification of RAS) have been found in SCCs. The aim of this genome-wide study was to identify pathways and genomic alterations that are consistently involved in the formation of SCCs and their precursor lesions, actinic keratoses (AKs). Methods To perform the analysis in an isogenic background, RNA and DNA were isolated from SCC, AK and normal (unexposed) epidermis (NS) from each of 13 OTRs. Samples were subjected to genome-wide expression analysis and genome SNP analysis using Illumina’s HumanWG-6 BeadChips and Infinium II HumanHap550 Genotyping BeadChips, respectively. mRNA expression results were verified by quantitative PCR. Results Hierarchical cluster analysis of mRNA expression profiles showed SCC, AK and NS samples to separate into three distinct groups. Several thousand genes were differentially expressed between epidermis, AK and SCC; most upregulated in SCCs were hyperproliferation related genes and stress markers, such as keratin 6 (KRT6), KRT16 and KRT17. Matching to oncogenic pathways revealed activation of downstream targets of RAS and cMYC in SCCs and of NFκB and TNF already in AKs. In contrast to what has been reported previously, genome-wide SNP analysis showed very few copy number variations in AKs and SCCs, and these variations had no apparent relationship with observed changes in mRNA expression profiles. Conclusion Vast differences in gene expression profiles exist between SCC, AK and NS from immunosuppressed OTRs. Moreover, several pathways activated in SCCs were already activated in AKs, confirming the assumption that AKs are the precursor lesions of SCCs. Since the drastic changes in gene expression appeared unlinked to specific genomic gains or losses, the causal events driving SCC development require further investigation. Other molecular mechanisms, such as DNA methylation or miRNA alterations, may affect gene expression in SCCs of OTRs. Further study is required to identify the mechanisms of early activation of NFκB and TNF, and to establish whether these pathways offer a feasible target for preventive intervention among OTRs.
Published: 2013
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3. Identical fracture patterns in combat vehicle blast injuries due to improvised explosive devices; a case series

Author: Commandeur Joris, Derksen Robert, MacDonald Damian, and Breederveld Roelf
Subjects: Improvised explosive devices, Identical injuries, Blast injury, Special situations and conditions, RC952-1245, Medical emergencies. Critical care. Intensive care. First aid, RC86-88.9
Abstract: Abstract Background In November 2008, a surgical team from the Red Cross Hospital Beverwijk, the Netherlands, was deployed in Afghanistan for three months to attend in the army hospital of Kandahar. During their stay, four incidents of armored personnel carriers encountering an improvised explosive device were assessed. In each incident, two soldiers were involved, whose injuries were strikingly similar. Case presentation The described cases comprise paired thoracic vertebral fractures, radial neck fractures, calcaneal fractures and talar fractures. Moreover, the different types of blast injury are mentioned and related to the injuries described in our series. Acknowledging the different blast mechanisms is important for understanding possible injury patterns. Conclusion From this case series, as well as the existing literature on injury patterns caused by blast injuries, it seems appropriate to pay extra attention to bodily areas that were injured in other occupants of the same vehicle. Obviously, the additional surveillance for specific injuries should be complementary to the regular trauma work-up (e.g., ATLS).
Published: 2012
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4. Hyperthermophilic endoglucanase for in planta lignocellulose conversion

Author: Klose Holger, Röder Juliane, Girfoglio Michele, Fischer Rainer, and Commandeur Ulrich
Subjects: Sulfolobus solfataricus, Cellulases, Biomass processing, Ionic liquids, Plants, Fuel, TP315-360, Biotechnology, TP248.13-248.65
Abstract: Abstract Background The enzymatic conversion of lignocellulosic plant biomass into fermentable sugars is a crucial step in the sustainable and environmentally friendly production of biofuels. However, a major drawback of enzymes from mesophilic sources is their suboptimal activity under established pretreatment conditions, e.g. high temperatures, extreme pH values and high salt concentrations. Enzymes from extremophiles are better adapted to these conditions and could be produced by heterologous expression in microbes, or even directly in the plant biomass. Results Here we show that a cellulase gene (sso1354) isolated from the hyperthermophilic archaeon Sulfolobus solfataricus can be expressed in plants, and that the recombinant enzyme is biologically active and exhibits the same properties as the wild type form. Since the enzyme is inactive under normal plant growth conditions, this potentially allows its expression in plants without negative effects on growth and development, and subsequent heat-inducible activation. Furthermore we demonstrate that the recombinant enzyme acts in high concentrations of ionic liquids and can therefore degrade α-cellulose or even complex cell wall preparations under those pretreatment conditions. Conclusion The hyperthermophilic endoglucanase SSO1354 with its unique features is an excellent tool for advanced biomass conversion. Here we demonstrate its expression in planta and the possibility for post harvest activation. Moreover the enzyme is suitable for combined pretreatment and hydrolysis applications.
Published: 2012
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5. How recombinant swollenin from Kluyveromyces lactis affects cellulosic substrates and accelerates their hydrolysis

Author: Jäger Gernot, Girfoglio Michele, Dollo Florian, Rinaldi Roberto, Bongard Hans, Commandeur Ulrich, Fischer Rainer, Spiess Antje C, and Büchs Jochen
Subjects: Fuel, TP315-360, Biotechnology, TP248.13-248.65
Abstract: Abstract Background In order to generate biofuels, insoluble cellulosic substrates are pretreated and subsequently hydrolyzed with cellulases. One way to pretreat cellulose in a safe and environmentally friendly manner is to apply, under mild conditions, non-hydrolyzing proteins such as swollenin - naturally produced in low yields by the fungus Trichoderma reesei. To yield sufficient swollenin for industrial applications, the first aim of this study is to present a new way of producing recombinant swollenin. The main objective is to show how swollenin quantitatively affects relevant physical properties of cellulosic substrates and how it affects subsequent hydrolysis. Results After expression in the yeast Kluyveromyces lactis, the resulting swollenin was purified. The adsorption parameters of the recombinant swollenin onto cellulose were quantified for the first time and were comparable to those of individual cellulases from T. reesei. Four different insoluble cellulosic substrates were then pretreated with swollenin. At first, it could be qualitatively shown by macroscopic evaluation and microscopy that swollenin caused deagglomeration of bigger cellulose agglomerates as well as dispersion of cellulose microfibrils (amorphogenesis). Afterwards, the effects of swollenin on cellulose particle size, maximum cellulase adsorption and cellulose crystallinity were quantified. The pretreatment with swollenin resulted in a significant decrease in particle size of the cellulosic substrates as well as in their crystallinity, thereby substantially increasing maximum cellulase adsorption onto these substrates. Subsequently, the pretreated cellulosic substrates were hydrolyzed with cellulases. Here, pretreatment of cellulosic substrates with swollenin, even in non-saturating concentrations, significantly accelerated the hydrolysis. By correlating particle size and crystallinity of the cellulosic substrates with initial hydrolysis rates, it could be shown that the swollenin-induced reduction in particle size and crystallinity resulted in high cellulose hydrolysis rates. Conclusions Recombinant swollenin can be easily produced with the robust yeast K. lactis. Moreover, swollenin induces deagglomeration of cellulose agglomerates as well as amorphogenesis (decrystallization). For the first time, this study quantifies and elucidates in detail how swollenin affects different cellulosic substrates and their hydrolysis.
Published: 2011
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6. Simulated effect of pneumococcal vaccination in the Netherlands on existing rules constructed in a non-vaccinated cohort predicting sequelae after bacterial meningitis

Author: Commandeur Arno E, de Jonge Rogier CJ, Koomen Irene, Spanjaard Lodewijk, van Furth A Marceline, and Terwee Caroline B
Subjects: Infectious and parasitic diseases, RC109-216
Abstract: Abstract Background Previously two prediction rules identifying children at risk of hearing loss and academic or behavioral limitations after bacterial meningitis were developed. Streptococcus pneumoniae as causative pathogen was an important risk factor in both. Since 2006 Dutch children receive seven-valent conjugate vaccination against S. pneumoniae. The presumed effect of vaccination was simulated by excluding all children infected by S. pneumoniae with the serotypes included in the vaccine, from both previous collected cohorts (between 1990-1995). Methods Children infected by one of the vaccine serotypes were excluded from both original cohorts (hearing loss: 70 of 628 children; academic or behavioral limitations: 26 of 182 children). All identified risk factors were included in multivariate logistic regression models. The discriminative ability of both new models was calculated. Results The same risk factors as in the original models were significant. The discriminative ability of the original hearing loss model was 0.84 and of the new model 0.87. In the academic or behavioral limitations model it was 0.83 and 0.84 respectively. Conclusion It can be assumed that the prediction rules will also be applicable on a vaccinated population. However, vaccination does not provide 100% coverage and evidence is available that serotype replacement will occur. The impact of vaccination on serotype replacement needs to be investigated, and the prediction rules must be validated externally.
Published: 2010
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7. Event zieht - Inhalt bindet

Author: Commandeur, Beatrix and Dennert, Dorothee
Subjects: Museum, Museumspädagogik, Event, Freizeit, Kulturpolitik, Kulturmanagement, Kulturmarketing, Museum Education, Cultural Policy, Cultural Management, Cultural Marketing, thema EDItEUR::G Reference, Information and Interdisciplinary subjects::GL Library and information sciences / Museology::GLZ Museology and heritage studies
Abstract: »Event« und »Edutainment« spielen eine zunehmend wichtige Rolle bei der Vermittlungsarbeit in Museen. Diese ist heute mehr denn je in Veranstaltungsprogramme eingebunden, die das Publikum unterhaltsam bilden und zugleich neue Besucherschichten für das Museum interessieren sollen. Damit stellt sich auch die Frage, was Museumsprogramme von den Angeboten der Freizeitparks unterscheidet und welche Wünsche Besucherinnen und Besucher heute an die Museen richten. Fachleute aus Museen, Freizeiteinrichtungen sowie aus Forschung und Kulturpolitik, die sich im Herbst 2003 im Haus der Geschichte in Bonn trafen, nehmen zu diesen grundlegenden Fragen nach neuen Aufgaben für das Museum der Gegenwart Stellung. Eine Dokumentation der Arbeitsgruppen in Bonner Museen und der Praxisbeiträge eines Ideenmarktes zum Thema runden den Band ab.
Published: 2004
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8. Anti-windup coordination strategy around a fair equilibrium in resource sharing networks

Author: Agner, Felix, Kergus, Pauline, Rantzer, Anders, Tarbouriech, Sophie, Zaccarian, Luca, Lund University [Lund], COmmande et DIAgnostic des Systèmes Electriques (LAPLACE-CODIASE), LAboratoire PLasma et Conversion d'Energie (LAPLACE), Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT), 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)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and University of Trento [Trento]
Subjects: [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Electrical Engineering and Systems Science - Systems and Control
Abstract: International audience; This paper aims at coordinating interconnected agents where the control input of each agent is limited by the control input of others. In that sense, the systems have to share a limited resource over a network. Such problems can arise in different areas and it is here motivated by a simplified district heating example. When the shared resource is insufficient for the combined need of all systems, the resource will have to be shared in an optimal fashion. In this scenario, we want the systems to automatically converge to an optimal equilibrium. The contribution of this paper is the proposal of a control architecture where each separate system is controlled by a local PI controller. The controllers are then coordinated through a global rank-one anti-windup signal. It is shown that the equilibrium of the proposed closed-loop system minimizes the infinity-norm of stationary state deviations. Convergence is investigated via a randomized numerical study, and a district heating-inspired example illustrates the utility of the proposed method.
Published: 2023
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9. Stabilization of a class of switched dynamic systems: the Riccati-equation-based Approach

Author: Moises Bonilla, V Azhmyakov, Sergio Salazar, N A Aguillón, M.A. Ortiz Castillo, Jean Jacques Loiseau, Michel Malabre, 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), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Commande, Observation, Diagnostic et Expérimentation (LS2N - équipe CODEx), 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), and Nantes Université (Nantes Univ)
Subjects: 0209 industrial biotechnology, Class (set theory), Control and Optimization, Computer science, Applied Mathematics, algebraic Riccati equation (ARE), 02 engineering and technology, switched dynamic systems, linear quadratic regulator (LQR), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, Control and Systems Engineering, Lyapunov stability, 0202 electrical engineering, electronic engineering, information engineering, Riccati equation, Applied mathematics, 020201 artificial intelligence & image processing, implicit control systems
Abstract: Our paper deals with the stabilization of a class of time-dependent linear autonomous complex systems with a switched structure. The initially given switched dynamic system is assumed to be controlled by a specific state feedback strategy associated with the linear quadratic regulator (LQR) type control. The proposed control design guarantees stabilization of the closed-loop system for all of the possible location transitions. In the solution procedure of the Algebraic Riccati Equation related to the LQR control strategy, only the knowledge of the algebraic structure related to the switched system are needed. We prove that the proposed optimal LQR type state feedback control design stabilizes the closed-loop switched system for every possible active location. The theoretical approach proposed in this paper is finally applied to a model of the Single Wing Quadrotor Aircraft, when changing from its Quadrotor Flight Envelope to its Airplane Flight Envelope.
Published: 2021
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10. Pseudo-Random Key Stream Generation Algorithm for Encryption Purposes

Author: Zongchao Qiao, Safwan El Assad, Ina Taralova, École Centrale de Nantes (ECN), 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), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN), Institut d'Électronique et des Technologies du numéRique (IETR), Université de Nantes (UN)-Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES), Nantes Université (NU)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Commande (LS2N - équipe Commande), Université de Nantes (UN)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), and Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)
Subjects: Pseudorandom number generator, Computer science, business.industry, Key space, Chaotic, Encryption, Data type, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, [NLIN.NLIN-CD]Nonlinear Sciences [physics]/Chaotic Dynamics [nlin.CD], Key (cryptography), business, Algorithm, Stream cipher, Block cipher
Abstract: For both chaos-based stream ciphers and chaos-based block ciphers, key streams have a crucial inﬂuence on their security. A well designed pseudo-chaotic number generator (PCNG) that exhibits both chaotic properties and pseudo-randomness is a good candidate for creating the cryptographic key stream for encryption purposes. PCNGs are based on multiple chaotic maps. Since the majority of the chaotic maps are defined using real numbers, most of the proposed PCNGs use floating-point notations. However, this data type, especially the double-precision notation, has disadvantages of high computation cost and inefficient resource utilization. Also, the quantification errors may undermine the reliability of the produced key stream. To overcome these drawbacks, a key stream generation algorithm using a PCNG scheme is proposed in this paper. The PCNG is based on reformulated skew tent maps over a 32-bit integer field. It not only reduces the resource utilization from the hardware perspective, but also ensures the key stream performance over various operation platforms. Furthermore, the proposed PCNG uses a parameter changeable strategy, which can help to expand the key space, and thus increases the immunity against the brute-force attack. The quality of the key stream produced by the PCNG has been tested in a stream cipher. The analysis and the obtained test results have demonstrated that the proposed PCNG is secure and reliable to generate cryptographic key streams for encryption purposes.
Published: 2020
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11. 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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12. State feedback control and delay estimation for LTI system with unknown input-delay

Author: Emmanuel Moulay, Franck Plestan, Yang Deng, Vincent Léchappé, 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), Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Systèmes et Réseaux Intelligents (XLIM-SRI), XLIM (XLIM), Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS)-Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS), Université de Poitiers, Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)
Subjects: Scheme (programming language), 0209 industrial biotechnology, Computer science, Lyapunov-Krasovskii functional, predictor-based controller, Feedback control, Control (management), 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science Applications, delay estimation, LTI system theory, 020901 industrial engineering & automation, Time-delay system, Exponential stability, Computer Science::Systems and Control, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, State (computer science), Constant (mathematics), computer, computer.programming_language
Abstract: International audience; The objective of this paper is to build feedback control solutions for LTI systems with unknown constant input-delay. The control scheme includes a time-delay estimation algorithm and a predictor-based controller. The Lyapunov-Krasovskii theorem provides the global exponential stability of the closed-loop system. Some examples illustrate the theoretical results and the performances of the proposed method.
Published: 2020
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13. Semi-Implicit Homogeneous Euler Differentiator for a Second-Order System: Validation on Real Data

Author: Michel, Loïc, Ghanes, Malek, Plestan, Franck, Aoustin, Yannick, Barbot, Jean-Pierre, 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), École Centrale de Nantes (ECN), Commande (Commande), 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), Robotique Et Vivant (ReV), Laboratoire QUARTZ (QUARTZ ), Institut Supérieur de Mécanique de Paris (ISAE-Supméca), and Ecole Nationale Supérieure de l'Electronique et de ses Applications (ENSEA)
Subjects: Projectors, ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION, Homogeneous differentiator, Attractor, Experimental Data, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Discretization, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; In this paper, a semi-implicit Euler approximation scheme is proposed for a second-order homogeneous differentiator. Compared to an explicit Euler approximation, it is well-known that implicit Euler approximation scheme offers better performances like reducing high frequency oscillations. However, the implicit Euler approximation scheme works well only when dealing with classical sliding mode differentiator. In order to keep advantages of implicit Euler approximation, when this approximation is applied in case of homogeneous differentiators, a semi-implicit Euler approximation is proposed for a second-order system. Validation on real data is conducted to highlight the well-founded of the proposed differentiation strategy.
Published: 2021

14. A New Hybrid Kinematic/Dynamic Whole-Body Control for Humanoid Robots With Real-Time Experiments

Author: Philippe Fraisse, David Galdeano, Ahmed Chemori, S. Krut, Continental AG [Hannover], 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), Interactive Digital Humans (IDH), and ANR-09-SEGI-0011,R2A2,Robot humanoïde hydRaulique: Amélioration de l'Autonomie énergétique via la conception et la commande.(2009)
Subjects: 0209 industrial biotechnology, Posture control, Computer science, Whole-body control, Mechanical Engineering, Control engineering, 02 engineering and technology, Kinematics, Humanoid robot, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, Hybrid kinematic/dynamic, Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, ZMP regulation, Whole body, Control (linguistics)
Abstract: In this paper, a new hybrid kinematic/dynamic control scheme for humanoid robots is proposed. Its basic idea lies in the tracking of several values in both operational and joint spaces. These values include (i) the relative pose of the robot’s feet, (ii) the position of the center of mass, (iii) the body’s orientation, and (iv) the admissible range of variation of the joints. A zero-moment point (ZMP)-based dynamic feedback is included in the proposed scheme to improve the stability of dynamic motions. The proposed stabilizer is based on a spherical projection of a nonlinear PID regulation control law. Through the proposed study, it is shown that these objectives allow us to produce smooth dynamically stable whole-body motions. The effectiveness and robustness of the proposed control scheme are demonstrated through four real-time experimental scenarios conducted on the HOAP-3 humanoid robot.
Published: 2021
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15. Control Strategies for a Cable-Driven Parallel Robot with Varying Payload Information

Author: Fabien Claveau, Stéphane Caro, Etienne Picard, Franck Plestan, Elias Tahoumi, Institut de Recherche Technologique Jules Verne [Bouguenais] (IRT Jules Verne), IRT Jules Vernes, Robots and Machines for Manufacturing, Society and Services (RoMas), 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), Commande (Commande), École Centrale de Nantes (ECN), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Centre National de la Recherche Scientifique (CNRS), IRT Jules Verne - ROCKET project, and IRT Jules Verne - ROCKET
Subjects: 0209 industrial biotechnology, Payload, Computer science, Mechanical Engineering, Handling, 020208 electrical & electronic engineering, Pick-and-place operations, Parallel manipulator, Mode (statistics), Decision tree, Robust control, 02 engineering and technology, Computer Science Applications, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Trajectory, Cable Driven Parallel Robots, Electrical and Electronic Engineering
Abstract: International audience; A suspended Cable-Driven Parallel Robot (CDPR) composed of eight cables and a moving platform (MP) is used in a pick-and-place application of metal plates with different shapes, sizes and masses. In order to ensure robust control despite mass variation, several combinations of control schemes and control laws have been experimented on a prototype at IRT Jules Verne, France. The main objective of this paper is to provide recommendations on the selection of a control strategy depending on the available information on the carried mass, and the presence or absence of force sensors. Three scenarios are considered representing a degradation of the information on the carried mass to observe the impact on the performance of applicable control strategies. In a first case, force sensors are assumed available to measure cable tension, allowing the real-time estimation of the carried mass. In a second case, the mass of the MP is known, but not the mass of the carried metal plate whereas the third case considers no information at all on both the MP and the carried metal plate. The tested control laws include a standard proportional-derivative controller (PD), and a recently developed nonlinear controller balancing between sliding mode and linear algorithms (SML). The performances of each control strategy are analyzed along a test trajectory for several payloads, and a decision tree is proposed.
Published: 2021
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16. A NEW ROBOTIC HAND BASED ON THE DESIGN OF FINGERS WITH SPATIAL MOTIONS

Author: Pol Hamon, Damien Chablat, Franck Plestan, 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), Robotique Et Vivant (ReV), 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 Commande (Commande)
Subjects: FOS: Computer and information sciences, Computer science, business.industry, GRASP, Kinematics, Robot end effector, computer.software_genre, law.invention, Mechanism (engineering), Computer Science - Robotics, symbols.namesake, law, Position (vector), Jacobian matrix and determinant, symbols, Computer Aided Design, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer vision, Artificial intelligence, Actuator, business, Robotics (cs.RO), computer
Abstract: This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to grasp complex-shaped workpieces as they leave the machining centres. Among the taxonomy of grips, cylindrical and spherical grips are often used to grasp heavy objects. A combination of these two modes makes it possible to capture most of the workpieces machined with 5-axis machines. However, the change in grasping mode requires the fingers to reconfigure themselves to perform spatial movements. This solution requires the addition of two or three actuators to change the position of the fingers and requires sensors to recognize the shape of the workpiece and determine the type of grasp to be used. This article proposes to extend the notion of under-actuated fingers to spatial movements. After a presentation of the kinematics of the fingers, the problem of stability is discussed as well as the transmission of forces in this mechanism. The complete approach for calculating the stability conditions is presented from the study of Jacobian force transmission matrices. CAD representations of the hand and its behavior in spherical and cylindrical grips are presented.
Published: 2021
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17. An Experimental Investigation of Discretized Homogeneous Differentiators: Pneumatic Actuator Case

Author: Franck Plestan, Malek Ghanes, Subiksha Selvarajan, Loïc Michel, Jean-Pierre Barbot, Yannick Aoustin, École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ), 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, 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), École Centrale de Nantes (ECN), 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), Robotique Et Vivant (ReV), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN), Laboratoire QUARTZ (QUARTZ ), Institut Supérieur de Mécanique de Paris (ISAE-Supméca), and Ecole Nationale Supérieure de l'Electronique et de ses Applications (ENSEA)
Subjects: 0209 industrial biotechnology, Discretization, Computer science, 02 engineering and technology, Sliding mode control, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Differentiator, symbols.namesake, 020901 industrial engineering & automation, Robustness (computer science), law, Control theory, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], ComputingMilieux_MISCELLANEOUS, Noise measurement, Pneumatic actuator, 020208 electrical & electronic engineering, [SPI.NRJ]Engineering Sciences [physics]/Electric power, sampled data, Projector, pneumatic actuator, Euler's formula, symbols
Abstract: International audience; It is well known that the homogeneous differentiator strategies reduce the chattering in the implementation of sliding mode algorithms and the recent implicit framework based projector provides very interesting properties when associated to homogeneous design. In this paper, it is proposed to evaluate different strategies of homogeneous differentiators based on Euler explicit and promising Euler semi-implicit strategies, for which discrete implementations have been realized on a pneumatic actuator. Experimental results highlight the benefit of a Euler semi-implicit based structure using a projector.
Published: 2021
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18. A theoretical framework for controlling complex microbial communities

Author: Marco Tulio Angulo, Yang-Yu Liu, Claude H. Moog, Universidad Nacional Autónoma de México (UNAM), 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), Harvard Medical School [Boston] (HMS), and Dana-Farber Cancer Institute [Boston]
Subjects: 0301 basic medicine, Computer science, Science, General Physics and Astronomy, Ircinia oros, 02 engineering and technology, Models, Biological, General Biochemistry, Genetics and Molecular Biology, Article, 03 medical and health sciences, Mice, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Animals, Germ-Free Life, Natural ecosystem, lcsh:Science, Ecosystem, Multidisciplinary, Host Microbial Interactions, business.industry, Clostridioides difficile, Environmental resource management, General Chemistry, 021001 nanoscience & nanotechnology, Ecological network, Gastrointestinal Microbiome, Porifera, 030104 developmental biology, [SDV.MP]Life Sciences [q-bio]/Microbiology and Parasitology, lcsh:Q, 0210 nano-technology, business
Abstract: Microbes form complex communities that perform critical roles for the integrity of their environment or the well-being of their hosts. Controlling these microbial communities can help us restore natural ecosystems and maintain healthy human microbiota. However, the lack of an efficient and systematic control framework has limited our ability to manipulate these microbial communities. Here we fill this gap by developing a control framework based on the new notion of structural accessibility. Our framework uses the ecological network of the community to identify minimum sets of its driver species, manipulation of which allows controlling the whole community. We numerically validate our control framework on large communities, and then we demonstrate its application for controlling the gut microbiota of gnotobiotic mice infected with Clostridium difficile and the core microbiota of the sea sponge Ircinia oros. Our results provide a systematic pipeline to efficiently drive complex microbial communities towards desired states., Controlling microbial communities could help restore ecosystems and maintain healthy microbiota. Here, the authors introduce the notion of structural accessibility and develop a framework to identify minimal sets of driver species, manipulation of which could allow control of a microbial community.
Published: 2019
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19. 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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20. 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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21. Robust tracking scheme for an experimental quadrotor

Author: L.A. Blas, M. Bonilla, S. Salazar, M. Malabre, V. Azhmyakov, 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: Computer Science::Robotics, [SPI]Engineering Sciences [physics], Quadrotor aircraft, unmanned aerial vehicle (UAV), nonlinearities rejection, trajectory tracking, non-standard feedback linearization
Abstract: International audience; In this paper, we present a robust tracking scheme for an experimental quadrotor, with outdoor real-time implementation. This control scheme is based on the robust structural feedback linearization scheme, presented in [2]. 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 aerial 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.
Published: 2021

22. A noise less-sensing semi-implicit discretization of a homogeneous differentiator: principle and application

Author: Michel, Loïc, Ghanes, Malek, Plestan, Franck, Aoustin, Yannick, Barbot, Jean-Pierre, École Centrale de Nantes (ECN), 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), Robotique Et Vivant (ReV), Université de Nantes (UN), Laboratoire QUARTZ (QUARTZ ), Institut Supérieur de Mécanique de Paris (ISAE-Supméca), and Ecole Nationale Supérieure de l'Electronique et de ses Applications (ENSEA)
Subjects: [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; Based on the projector introduced in recent Euler semi-implicit methods, the main contribution of this paper is the reduction of the effect of noise on the sliding surface of the discretized homogeneous differentiator. For that, an adaptation law according to the magnitude of the high frequency noise is proposed to modify the behavior of the projector when the discretized differentiator remains on the sliding surface. In presence of noise, the differentiator will have an asymptotic convergence but will be less-sensing noise. Otherwise, when the differentiator is not affected by noise on the sliding surface, its convergence will be in finite-time. Experimental results are shown in order to highlight the well founded of the contribution.
Published: 2021
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23. Intrinsic Lipschitz Regularity of Mean-Field Optimal Controls

Author: Benoît Bonnet, Francesco Rossi, 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), Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Centre National de la Recherche Scientifique (CNRS), Dipartimento di Matematica 'Tullio Levi-Civita', Universita degli Studi di Padova, ANR-11-IDEX-0001-02 IDEX ANR-11-IDEX-0102, This research was partially supported by the Padua University grant SID 2018 'Controllability, sta-bilizability and infimun gaps for control systems', prot. BIRD 187147. The first author was supported by the Archimède Labex(ANR-11-LABX-0033) and by the A*MIDEX project (ANR-11-IDEX-0001-02), funded by the 'Investissements d’Avenir' FrenchGovernment program managed by the French National Research Agency (ANR, ANR-11-LABX-0033,ARCHIMEDE,ARCHIMEDE / Mathématiques(2011), Pronostic/Diagnostic Et CommAnde : Santé et Energie (PECASE), and Università degli Studi di Padova = University of Padua (Unipd)
Subjects: 0209 industrial biotechnology, differential calculus in Wasserstein spaces, Control and Optimization, Discretization, Context (language use), 02 engineering and technology, 01 natural sciences, discretisation, 35B65, 49J20, 49J30, 49Q22, 58E25, 93A16, 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, FOS: Mathematics, Applied mathematics, Optimal control of continuity equations, multi-agent systems, 0101 mathematics, Mathematics - Optimization and Control, Mathematics, Applied Mathematics, Multi-agent system, 010102 general mathematics, Differential calculus, Optimal control, Lipschitz continuity, regularity of minimizers, Mean field theory, Optimization and Control (math.OC), 35B65, 49J20, 49J30, 49Q22, 58E25, 93A1, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], metric regularity
Abstract: In this article, we provide sufficient conditions under which the controlled vector fields solution of optimal control problems formulated on continuity equations are Lipschitz regular in space. Our approach involves a novel combination of mean-field approximations for infinite-dimensional multi-agent optimal control problems, along with a careful extension of an existence result of locally optimal Lipschitz feedbacks. The latter is based on the reformulation of a coercivity estimate in the language of Wasserstein calculus, which is used to obtain uniform Lipschitz bounds along sequences of approximations by empirical measures.
Published: 2021

24. Exact noise cancellation for 1D-acoustic propagation systems

Author: Chaouki Nacer Eddine Boultifat, Mohamed Yagoubi, Jérôme Lohéac, Philippe Chevrel, Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), 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), 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), Commande (Commande), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), IMT Atlantique (IMT Atlantique), Commande, Observation, Diagnostic et Expérimentation (LS2N - équipe CODEx), 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), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (Polytech Nantes), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Control and Optimization, Computer science, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], Boundary (topology), 02 engineering and technology, 01 natural sciences, 020901 industrial engineering & automation, Control theory, noise cancellation, [MATH.MATH-AP]Mathematics [math]/Analysis of PDEs [math.AP], Point (geometry), 0101 mathematics, D'Alembert formula, Active noise control, Noise measurement, Boundary control, Applied Mathematics, 010102 general mathematics, Zero (complex analysis), one-dimensional wave equation, Wave equation, Symmetry (physics), [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Focus (optics)
Abstract: This paper deals with active noise control applied to a one-dimensional acoustic propagation system. The aim here is to keep over time a zero noise level at a given point. We aim to design this control using noise measurement at some point in the spatial domain. Based on symmetry property, we are able to design a feedback boundary control allowing this fact. Moreover, using D'Alembert formula, an explicit formula of the control can be computed. Even if the focus is made on the wave equation, this approach is easily extendable to more general operators.
Published: 2021
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25. Boundary sliding mode control of a system of linear hyperbolic equations: a Lyapunov approach

Author: Swann Marx, Franck Plestan, Thibault Liard, Ismaila Balogoun, 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 Liard, Thibault
Subjects: 0209 industrial biotechnology, Sliding mode control, MathematicsofComputing_NUMERICALANALYSIS, Boundary (topology), 02 engineering and technology, 01 natural sciences, 020901 industrial engineering & automation, Exponential stability, Applied mathematics, 0101 mathematics, Electrical and Electronic Engineering, Mathematics, Variable (mathematics), stabilization of PDEs, 010102 general mathematics, Mode (statistics), Existence theorem, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], State (functional analysis), hyperbolic equations, Control and Systems Engineering, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], nonlinear systems, Hyperbolic partial differential equation, robust control
Abstract: International audience; This paper introduces a new sliding mode methodology for a system of two hyperbolic equations. The main difference with the existing literature is the definition of the sliding variable, given here by the gradient of a Lyapunov functional. We state and prove an existence theorem and a global asymptotic stability result. The efficiency of our feedback-law is illustrated by some numerical simulations relying on implicit schemes.
Published: 2021

26. Inventory control of a class of logistic networks

Author: Berna Bou Farraa, Jean Jacques Loiseau, Rosa Abbou, PSI (PSI), 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), Commande (Commande), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)
Subjects: Inventory control, 0209 industrial biotechnology, Mathematical optimization, General Computer Science, Computer science, Mechanical Engineering, Supply chain, 020208 electrical & electronic engineering, 02 engineering and technology, Convolution, Reduction (complexity), 020901 industrial engineering & automation, Control and Systems Engineering, Production manager, Bounded function, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Production (economics), Electrical and Electronic Engineering, Constant (mathematics)
Abstract: International audience; This paper focuses on a prediction-based control for a class of convolution systems subject to constant input delays, also known as the reduction approach. We propose here a characterization of the -invariance property of polytope sets for continuous-time systems. Our motivations come from production management, where a general model for a production network is considered. The system is subject to product losses and multiple delays, with bounded demand. This model is transformed into an equivalent free-delay system using Artstein reduction. The question of regulating the inventory levels of the nodes of this production network is then reduced to a pair of sub-problems, that are the regulation of the equivalent system without delay, and the relationship between the output of the system and that of the reduced system. A pair of conditions is therefore obtained, for the verification that a large class of control solutions allow to satisfy the external demand, while meeting the constraints that are imposed to the system. At the end, explicit conditions are found for an example of a supply chain with two nodes.
Published: 2021
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27. Design of a Fractional Pseudo-Chaotic Random Number Generator

Author: Chunxiao Yang, Ina Taralova, Jean Jacques Loiseau, Safwan El-Assad, École Centrale de Nantes (ECN), 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), Institut d'Électronique et des Technologies du numéRique (IETR), Université de Nantes (UN)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), 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), PSI (PSI), Université de Nantes (UN)-Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES), Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN), Nantes Université (NU)-Université de Rennes 1 (UR1), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Commande (LS2N - équipe Commande), PSI (LS2N - équipe PSI), Université de Nantes (UN)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), and Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Discretization, 020208 electrical & electronic engineering, Chaotic, 02 engineering and technology, Lyapunov exponent, Grid, Nonlinear Sciences::Chaotic Dynamics, symbols.namesake, [INFO.INFO-CR]Computer Science [cs]/Cryptography and Security [cs.CR], 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, Piecewise, symbols, Applied mathematics, Cryptosystem, [INFO]Computer Science [cs], [NLIN]Nonlinear Sciences [physics], Stream cipher, Mathematics, Generator (mathematics)
Abstract: International audience; In this paper, we design a pseudo-chaotic random number generator using fractional chaotic systems. A non-uniform grid calculation method is proposed and employed to numerically solve the fractional systems by introducing a skew-tent map to vary the step size of the grid. Greater chaoticity in terms of Lyapunov exponent has been achieved by applying the proposed approach to the solution calculation of the fractional chaotic Chen's and Lu's systems. By adopting the piecewise constant argument method, one 1D fractional generalized double-humped logistic system (FGDHL) is discretized. A fractional pseudo-chaotic random number generator (FPCRNG) has been proposed by performing XOR (exclusive-or) operations to the states of the fractional Chen's system, fractional Lu's system, and the FGDHL systems. The security analysis of the generator and the statistical experiment of a stream cipher implementing the proposed FPCRNG prove that the proposed structure is efficient and can be used in the cryptosystem design.
Published: 2020
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28. A Nonsmooth Newton Method for the Design of State Feedback Stabilizers under Structure Constraints

Author: Mohamed Yagoubi, Redouane Chaibi, 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 Sidi Mohamed Ben Abdellah (USMBA)
Subjects: 0209 industrial biotechnology, Generalized Jacobian, Computer Networks and Communications, Iterative method, Computer science, 0211 other engineering and technologies, Structure (category theory), MathematicsofComputing_NUMERICALANALYSIS, 02 engineering and technology, Projection (linear algebra), symbols.namesake, 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Symmetric matrix, Applied mathematics, Newton's method, ComputingMilieux_MISCELLANEOUS, Sparse matrix, 021103 operations research, Applied Mathematics, Linear system, State (functional analysis), Local convergence, Control and Systems Engineering, Signal Processing, symbols
Abstract: International audience; The paper proposes a method for structured state-feedback controllers design for linear time-invariant systems. A necessary and sufficient condition for structured state-feedback stabilizability of linear systems, making an appeal to the linear-quadratic (LQ) regulator theory, is first proposed. The latter is presented in the form of a nonlinear matrix equation. Then, it is recast as a non-smooth unconstrained equation using projection onto the positive semi-definite matrices cone. Thereby, a non-smooth Newton's iterative algorithm, based on the Clarke generalized Jacobian of said projection, is proposed. This method has a guaranteed local convergence. Finally, numerical examples illustrate the effectiveness of the proposed method.
Published: 2020
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29. Robust switching control design for uncertain discrete-time switched affine systems

Author: Antonio Ventosa-Cutillas, Carolina Albea Sanchez, Francisco Gordillo, Alexandre Seuret, Departamento de Ingenieria de Sistemas y Automatica [Sevilla] (ISA), 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-18-CE40-0022,HISPALIS,Systèmes multi-agents hybrides auto-ajustés pour microgrids(2018), 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 Toulouse III - Paul Sabatier ( UPS ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique ( CNRS ) -Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique ( CNRS ), Departamento de Ingenieria de Sistemas y Automatica [Sevilla] ( ISA ), 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: Lyapunov function, 0209 industrial biotechnology, Discretization, Computer science, Lyapunov analysis, General Chemical Engineering, Biomedical Engineering, Aerospace Engineering, 02 engineering and technology, Industrial and Manufacturing Engineering, symbols.namesake, 020901 industrial engineering & automation, Control theory, Simple (abstract algebra), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Electrical and Electronic Engineering, LMI, Mechanical Engineering, Linear matrix inequality, Converters, Discrete time and continuous time, Control and Systems Engineering, symbols, 020201 artificial intelligence & image processing, Affine transformation, Robust control, Discrete-time switched affine systems, robust control
Abstract: International audience; This paper deals with the design of new periodic switching control laws for high frequency DC-DC converters. The contributions are twofolds. On a first hand, the DC-DC converter model is rewritten as a periodic switched affine system thanks to a $\delta$-operator formulation, which represents an efficient framework for the numerical discretization at high frequencies. On a second hand, three different control laws are provided, the first one being the usual Lyapunov-based control law and the two others being relaxed versions of this first solution. The benefits of these two new control laws over the usual Lyapunov-based one are demonstrated on a simple example.
Published: 2020
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30. Towards a Driver Model to Clarify Cooperation Between Drivers and Haptic Guidance Systems

Author: Franck Mars, Yishen Zhao, Philippe Chevrel, Fabien Claveau, 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), Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and RFI Atlanstic 2020 (projet Steer&Share)
Subjects: 050210 logistics & transportation, 0209 industrial biotechnology, haptic feedback, Computer science, 05 social sciences, Driving simulator, Internal model, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, parameter identification, Identification (information), 020901 industrial engineering & automation, 0502 economics and business, Torque, cybernetic driver model, Adaptation (computer science), Guidance system, neuromuscular system, Simulation, ComputingMethodologies_COMPUTERGRAPHICS, Haptic technology
Abstract: International audience; Understanding a driver's behavior in a steering task is essential to the development of haptic guidance systems. This paper aims to predict driver torque control, especially when haptic guidance is part of haptic feedback. A new cybernetic driver model with an improved neuromuscular system is proposed and identified. It is assumed that the driver converts a target steering-wheel angle into torque by both indirect and direct control. Indirect control refers to the adaptation of the parameters of an internal model of steering compliance as perceived by the driver. Direct control accounts for the driver's corrective action through direct haptic feedback. The parameters of the model were identified with data collected from experiments conducted with a driving simulator. The results of identification were satisfactory and led to good representation of the driver's action, with or without haptic guidance. The model accurately predicted driver torque output. It can be used to study driver adaptation to haptic guidance systems.
Published: 2020
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31. Systematic H2/H∞ haptic shared control synthesis for cars, parameterized by sharing level

Author: Chouki Sentouh, Philippe Chevrel, Beatrice Pano, Franck Mars, Fabien Claveau, Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), 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), Commande (Commande), 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), Centre National de la Recherche Scientifique (CNRS)-Université Polytechnique Hauts-de-France (UPHF)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), and ANR-16-CE22-0007,AutoConduct,Adaptation de la stratégie d'automatisation des véhicules autonomes (niveaux 3-4) aux besoins et à l'état des conducteurs en conditions réelles(2016)
Subjects: 050210 logistics & transportation, 0209 industrial biotechnology, Control synthesis, business.industry, Computer science, 05 social sciences, Parameterized complexity, Control engineering, 02 engineering and technology, Automation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Robustness (computer science), 0502 economics and business, Trajectory, business, Haptic technology
Abstract: International audience; This paper presents a methodology for the systematic synthesis of haptic shared control (HSC) of a car. This HSC design is based on a two-part architecture. The first part is a trajectory generator that provides a reference trajectory to the second part, which is a static output feedback. In this paper, the haptic shared control is used as an lane keeping assist system (LKA); hence, the reference trajectory is chosen to fulfill this function. The main contribution of this article is related to the combination of the H2/H∞ feedback synthesis. This, involves an H2 criterion quantifying the sharing level and quality as an objective function, and H2/H∞ constraints for lane-keeping performance, driver comfort and robustness. The control design relies on a driver cybernetic model, which decreases conflicts between the assistance and the driver. A systematic method to tune criterion and constraints is described, enabling the attainment of desired lane-following and shared-control performance. The proposed methodology facilitates the design of lateral assistance, ensuring stability and guaranteed performance regardless of the prescribed level of sharing between the actions of the driver and the automaton. The shared control between human driver and automation for the lane keeping task over the Satory test track with the sharing level adaptation is then shown for the validation of the proposed architecture. This work introduces perspectives on smooth transitioning between manual and autonomous driving modes.
Published: 2020
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32. Driver Model Validation through Interaction with Varying Levels of Haptic Guidance

Author: Beatrice Pano, Fabien Claveau, Yishen Zhao, Franck Mars, 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), Perception, Action, Cognition pour la Conception et l’Ergonomie (PACCE), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and RFI ATLANSTIC 2020 (projet Steer&Share)
Subjects: 0209 industrial biotechnology, internal model, Computer science, haptic guidance system, 05 social sciences, Process (computing), Internal model, Driving simulator, 02 engineering and technology, Steering wheel, Kalman filter, adaptation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, parameter identification, 020901 industrial engineering & automation, 0501 psychology and cognitive sciences, haptic shared control, Guidance system, Adaptation (computer science), 050107 human factors, Simulation, Haptic technology, driver model
Abstract: International audience; Driver modeling is essential in the development of haptic guidance systems. A new cybernetic driver model designed to account for the cooperation between the driver and haptic guidance systems has recently been proposed. This paper aims to validate this model in situations of interaction with different levels of haptic guidance on a driving simulator. Two experiments have been performed for this purpose. The first experiment consisted of implementing the driver model in the driving simulator and evaluating its lateral control performance when interacting with a haptic guidance system. The results reveal that the model can be adapted to different sharing levels by adjusting only the gain of an internal model of the steering wheel compliance. The second experiment consisted of estimating the evolution of the gain of this internal model using the unscented Kalman filter. The results reveal consistency between the evolution of the identified parameter and the level of sharing of the haptic guidance system. The driver model represents the process of human driver adaptation to variations in the level of sharing in haptic guidance systems.
Published: 2020
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33. Reflection-based technique for synthesis of structured controllers with guaranteed local convergence

Author: Mohamed Yagoubi, Redouane Chaibi, 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), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Output feedback, 0209 industrial biotechnology, Computer science, Structure (category theory), 02 engineering and technology, Computer Science Applications, Theoretical Computer Science, Local convergence, 020901 industrial engineering & automation, Reflection (mathematics), Control and Systems Engineering, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, ComputingMilieux_MISCELLANEOUS
Abstract: This paper deals with stabilisation, H 2 and H ∞ static output feedback synthesis, under structure constraints for linear time-invariant systems. The proposed approach relies on a prominent propert...
Published: 2020
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34. Backward Symbolic Optimal Reachability in Weighted Timed Automata

Author: Didier Lime, Rémi Parrot, STR (STR ), 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 Commande (Commande)
Subjects: 050101 languages & linguistics, Theoretical computer science, Computer science, 05 social sciences, Extrapolation, 02 engineering and technology, Infimum and supremum, Action (physics), Automaton, Set (abstract data type), [INFO.INFO-FL]Computer Science [cs]/Formal Languages and Automata Theory [cs.FL], Reachability, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, 0501 psychology and cognitive sciences, [INFO]Computer Science [cs], State (computer science), Control (linguistics)
Abstract: International audience; We address the problem of computing the infimum accumulated weight for the reachability of some goal location in weighted timed automata. While there already exist efficient techniques to solve this problem, we propose here a backwards symbolic algorithm computing the accumulated weight to the goal, instead of the accumulated weight from the initial state. Going backwards has in itself a few advantages: most notably it does not require any extrapolation operation to ensure termination. Also it may be more efficient than going forward if the set of co-reachable states is smaller than the set of reachable states. Backwards algorithms are also instrumental in several problems beyond reachability, like control problems for instance. We obtain our backward algorithm by proposing extensions of the classical action and time predecessor operations on zones to account for weights. We have implemented the approach and report on its performance.
Published: 2020
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35. A new control scheme of cable-driven parallel robot balancing between sliding mode and linear feedback

Author: Stéphane Caro, Fabien Claveau, Franck Plestan, Etienne Picard, Elias Tahoumi, Institut de Recherche Technologique Jules Verne [Bouguenais] (IRT Jules Verne), IRT Jules Vernes, Robots and Machines for Manufacturing, Society and Services (RoMas), 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), École Centrale de Nantes (ECN), Commande (Commande), Centre National de la Recherche Scientifique (CNRS), Institut Mines-Télécom [Paris] (IMT), and IRT Jules Verne - ROCKET
Subjects: Scheme (programming language), 0209 industrial biotechnology, Computer science, 020208 electrical & electronic engineering, Mode (statistics), Parallel manipulator, Cable-driven parallel robot, Robust control, 02 engineering and technology, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic, Set (abstract data type), 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Trajectory, Robot, Experimental results, computer, Sliding mode, computer.programming_language
Abstract: This paper deals with the design of a robust control scheme for a suspended Cable-Driven Parallel Robot (CDPR), composed of eight cables and a moving-platform (MP), for a pick-and-place application of metal plates of various shapes, sizes and masses. The set composed of the MP and a metal plate can have a mass of up to 700 kg. In order to achieve good accuracy and repeatability of the MP pose despite the variability of the transported mass, a robust control scheme must be implemented on the robot. A recently developed controller balancing between sliding mode and linear algorithms (SML) is considered for the application. The performances of the SML controller are analyzed on a CDPR prototype located at IRT Jules Verne, Nantes, France, along a test trajectory for several payloads. The results obtained without any information on the platform or metal plate mass are compared to those of standard proportional-derivative (PD) based control schemes.
Published: 2020

36. 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

37. Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots

Author: Etienne Picard, Franck Plestan, Fabien Claveau, Stéphane Caro, Institut de Recherche Technologique Jules Verne [Bouguenais] (IRT Jules Verne), IRT Jules Vernes, Robots and Machines for Manufacturing, Society and Services (RoMas), 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), Centre National de la Recherche Scientifique (CNRS), École Centrale de Nantes (ECN), Commande (Commande), Institut Mines-Télécom [Paris] (IMT), IRT Jules Verne, ROCKET project, and IRT Jules Verne - ROCKET
Subjects: 0209 industrial biotechnology, Computer science, Tension Distribution Algorithm, 02 engineering and technology, Displacement (vector), law.invention, Stiffness, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, 0203 mechanical engineering, law, Control theory, Control, medicine, Stiffness matrix, Tension (physics), Parallel manipulator, Cable-driven parallel robot, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], 020303 mechanical engineering & transports, Polygon, Robot, Wrench, medicine.symptom, Experiments
Abstract: International audience; A novel criterion is introduced in this paper to determine the set of cable tensions for Cable-Driven Parallel Robots (CDPRs) with the aim of maximizing the robot stiffness along a specific direction. Based on the feasible polygon of the CDPR and its stiffness matrix, an algorithm selects the set of admissible cable tensions leading to the smallest moving-platform displacement, the moving-platform being subject to an external wrench. The proposed tension distribution is implemented in a control scheme and experimented on a fully-constrained CDPR for a window cleaning application.
Published: 2020
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38. Lyapunov stability analysis of the implicit discrete-time twisting control algorithm

Author: Olivier Huber, Vincent Acary, Bernard Brogliato, Wisconsin Institute for Discovery [Madison], Modélisation, simulation et commande des systèmes dynamiques non lisses (TRIPOP), 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), Institut National de Recherche en Informatique et en Automatique (Inria)-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), and ANR-11-BS03-0007,ChaSliM,Vers une commande par modes glissants performante: réduction du chattering, rejet de perturbations, et boite à outils.(2011)
Subjects: Lyapunov stability, Lyapunov function, 0209 industrial biotechnology, Computer science, sliding mode control, implicit discretization, 02 engineering and technology, Fixed point, Sliding mode control, Computer Science Applications, [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, 020901 industrial engineering & automation, Discrete time and continuous time, Control and Systems Engineering, Control theory, Variational inequality, symbols, finite-time stability, discrete-time Lyapunov stability, sampled-data system, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Electrical and Electronic Engineering, Robust control, robust control
Abstract: International audience; An implicit discrete-time version of the twisting sliding-mode control algorithm is considered. The framework of variational inequalities is used to define the control input values. This provides the foundation for both the analysis of the controller and the numerical computations. The controller is shown to be well-defined and the discrete-time closed-loop system's fixed point is finite-time globally stable in the sense of Lyapunov. The analysis is led in the unperturbed case, and numerical simulations demonstrate the efficiency of the proposed controller when a disturbance acts on the system.
Published: 2020
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39. Digital implementation of sliding-mode control via the implicit method: A tutorial

Author: Andrey Polyakov, Bernard Brogliato, Modélisation, simulation et commande des systèmes dynamiques non lisses [2020-....] (TRIPOP [2020-....]), 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 [2020-....] (LJK [2020-....]), Université Grenoble Alpes [2020-....] (UGA [2020-....])-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut polytechnique de Grenoble - Grenoble Institute of Technology [2020-....] (Grenoble INP [2020-....]), Université Grenoble Alpes [2020-....] (UGA [2020-....])-Université Grenoble Alpes [2020-....] (UGA [2020-....])-Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology [2020-....] (Grenoble INP [2020-....]), Université Grenoble Alpes [2020-....] (UGA [2020-....]), Finite-time control and estimation for distributed systems (VALSE), 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 (CRIStAL) - UMR 9189 (CRIStAL), Centre National de la Recherche Scientifique (CNRS)-Université de Lille-Ecole Centrale de Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille-Ecole Centrale de Lille, ANR-18-CE40-0008,DIGITSLID,DIGITAL SET-VALUED AND HOMOGENEOUS SLIDING MODE CONTROL AND DIFFERENTIATORS: THE IMPLICIT APPROACH(2018), Modélisation, simulation et commande des systèmes dynamiques non lisses (TRIPOP), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Jean Kuntzmann (LJK), Institut National de Recherche en Informatique et en Automatique (Inria)-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), 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), Work supported by the ANR project Digitslid no ANR-18-CE40-0008-01., and ANR-18-CE40-0008,DIGITSLID,Différentiateurs et commandes homogènes par modes glissants multivalués en temps discret: l'approche implicite(2018)
Subjects: 0209 industrial biotechnology, Automatic control, Discretization, Computer science, sliding-mode, General Chemical Engineering, homogenous systems, Biomedical Engineering, Aerospace Engineering, 02 engineering and technology, Sliding mode control, Industrial and Manufacturing Engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, Electrical and Electronic Engineering, Control (linguistics), Structure (mathematical logic), Emulation, discrete-time, Mechanical Engineering, Control engineering, Discrete time and continuous time, Control and Systems Engineering, 020201 artificial intelligence & image processing, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Focus (optics), control, super-twisting
Abstract: International audience; The objective of this article, is to provide a clear presentation of the discretization of continuous-time sliding-mode controllers, also known in the Automatic Control literature as the emulation method, when the implicit (backward) Euler scheme is used. First-order, second-order and homogeneous controllers are considered. The main theoretical results are recalled in each case, and the focus is put on the discrete-time implementation structure and on the algorithms which allow the designer to solve, at each time-step, the one-step generalized equations which are needed to compute the controllers. The article ends with some open issues.
Published: 2020
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40. Dynamical systems coupled with monotone set-valued operators: Formalisms, applications, well-posedness, and stability

Author: Aneel Tanwani, Bernard Brogliato, Modélisation, simulation et commande des systèmes dynamiques non lisses (TRIPOP), 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), Institut National de Recherche en Informatique et en Automatique (Inria)-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), 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-17-CE40-0019,ConVan,Contrôle des Systèmes Interconnectés sous Contraintes en Utilisant l'Analyse Variationelle(2017), 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, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], 0211 other engineering and technologies, 02 engineering and technology, complementarity systems, Maximal monotone operators, absolute stability, Theoretical Computer Science, Set-valued systems, 020901 industrial engineering & automation, Operator (computer programming), Projected dynamical system, Complementarity problems, Differential inclusion, differential inclusions, well-posedness, circuits, Lur'e systems, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Applied mathematics, normal cones, Mathematics, Lyapunov stability, 021103 operations research, piecewise linear systems, Applied Mathematics, Rotation formalisms in three dimensions, projected dynamical systems, Filippov's differential inclusions, Prox-regular sets, Computational Mathematics, Monotone polygon, Ordinary differential equation, Lagrangian systems, Passivity, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Moreau's sweeping process
Abstract: International audience; This survey article addresses the class of continuous-time systems where a system modeled by ordinary differential equations (ODEs) is coupled with a static and time-varying set-valued operator in the feedback. Interconnections of this form model certain classes of nonsmooth systems including sweeping processes, differential inclusions with maximal monotone right-hand side, complementarity systems, differential and evolution variational inequalities, projected dynamical systems, some piecewise linear switching systems. Such mathematical models have seen applications in electrical circuits, mechanical systems, hysteresis effects, and many more. When we impose a passivity assumption on the open-loop system, and regard the set-valued operator in the feedback as maximally monotone, we obtain a set-valued Lur'e dynamical system. In this article we review the mathematical formalisms, their relationships, main application fields, well-posedness (existence, uniqueness, continuous dependence of solutions), and stability of equilibria. An exhaustive bibliography is provided.
Published: 2020
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41. Integral Quadratic Constraints on Linear Infinite-dimensional Systems for Robust Stability Analysis

Author: Alexandre Seuret, Matthieu Barreau, Frédéric Gouaisbaut, Carsten W. Scherer, Laboratoire d'analyse et d'architecture des systèmes (LAAS), Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J), Department of Mathematics [Stuttgart], University of Stuttgart, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J)-Institut National Polytechnique (Toulouse) (Toulouse INP), ANR-15-CE23-0014,SCIDIS,Stabilité et commande de systèmes de dimension infinie(2015), Division of Decision and Control Systems - School of Electrical Engineering and Computer Science, Royal Institute of Technology [Stockholm] (KTH ), 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, Differential equation, 02 engineering and technology, Linear matrix, 020901 industrial engineering & automation, Quadratic equation, Mathematics - Analysis of PDEs, Distributed parameter system, Robustness (computer science), 0202 electrical engineering, electronic engineering, information engineering, FOS: Mathematics, Applied mathematics, [MATH.MATH-AP]Mathematics [math]/Analysis of PDEs [math.AP], Mathematics - Optimization and Control, Mathematics, 020208 electrical & electronic engineering, Distributed Parameter Systems, Dissipation inequality, Control and Systems Engineering, Optimization and Control (math.OC), Ordinary differential equation, IQCs, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Robustness analysis, Coupled ODE/PDE, Stability theorem, Analysis of PDEs (math.AP)
Abstract: International audience; This paper proposes a framework to assess the stability of an ordinary differential equation which is coupled to a 1D-partial differential equation (PDE). The stability theorem is based on a new result on Integral Quadratic Constraints (IQCs) and expressed in terms of two linear matrix inequalities with a moderate computational burden. The IQCs are not generated using dissipation inequalities involving the whole state of an infinite-dimensional system, but by using projection coefficients of the infinite-dimensional state. This permits to generalize our robustness result to many other PDEs. The proposed methodology is applied to a time-delay system and numerical results comparable to those in the literature are obtained.
Published: 2020
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42. Modelling and control of multi-energy systems through multi-prosumer node and economic model predictive control

Author: Fabien Claveau, Pierrick Haurant, Philippe Chevrel, Bruno Lacarrière, Pierre Clément Blaud, Anthony Mouraud, Commissariat à l'énergie atomique et aux énergies alternatives (CEA), Commande (LS2N - équipe 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 (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), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique (IMT Atlantique), Département Systèmes Energétiques et Environnement (IMT Atlantique - DSEE), Optimisation - Système - Energie (GEPEA-OSE), Laboratoire de génie des procédés - environnement - agroalimentaire (GEPEA), Institut Universitaire de Technologie - Nantes (IUT Nantes), Université de Nantes (UN)-Université de Nantes (UN)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-Institut Universitaire de Technologie Saint-Nazaire (IUT Saint-Nazaire), Université de Nantes (UN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-École nationale vétérinaire, agroalimentaire et de l'alimentation Nantes-Atlantique (ONIRIS)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut Universitaire de Technologie - La Roche-sur-Yon (IUT La Roche-sur-Yon), Université de Nantes (UN)-Institut Universitaire de Technologie - Nantes (IUT Nantes), Université de Nantes (UN), 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), Conseil Régional des Pays de la Loire, Commande (Commande), 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)-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 (UN)-Université de Nantes (UN)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-Institut Universitaire de Technologie - Nantes (IUT Nantes), Université de Nantes (UN)-Institut Universitaire de Technologie Saint-Nazaire (IUT Saint-Nazaire), Université de Nantes (UN)-Institut Universitaire de Technologie - La Roche-sur-Yon (IUT La Roche-sur-Yon), Université de Nantes (UN)-Ecole Nationale Vétérinaire, Agroalimentaire et de l'alimentation Nantes-Atlantique (ONIRIS)-Université Bretagne Loire (UBL)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Université de Nantes (UN)-Ecole Nationale Vétérinaire, Agroalimentaire et de l'alimentation Nantes-Atlantique (ONIRIS)-Université Bretagne Loire (UBL)
Subjects: Computer science, 020209 energy, media_common.quotation_subject, Economic Model Predictive Control, Energy Engineering and Power Technology, 02 engineering and technology, 7. Clean energy, Adaptability, Multi-Prosumer Node, Economic cost, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Energy transformation, Electrical and Electronic Engineering, media_common, Energy carrier, Energy Hub, business.industry, 020208 electrical & electronic engineering, Converters, Reliability engineering, Renewable energy, Model predictive control, Multi-Energy System, [SPI.MECA.THER]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Thermics [physics.class-ph], Grid energy storage, business
Abstract: International audience; The present study deals with Multi-Energy Systems (MES) modelling and advanced control with Economic Model Predictive Control (EMPC). MES provide energy flexibility, efficiency, and adaptability thanks to several energy carriers. MES are identified as a lever for integrating renewable energy. A MES novel formulation technique called Multi-Prosumer Node (MPN) is developed in this paper. MPN makes possible the modeling of MES, considering MES dynamics , several energy carriers, converters, on-grid, and off-grid. In addition, this MES modeling approach is compatible with predictive control strategies like the EMPC. In fact, EMPC is able to take into account loads, weather, renewable power and energy grid cost predictions to minimise economic costs. A real case study is implemented to examine MPN capabilities, which it is composed of renewable generators, loads, storages from two-energy carriers. Two real scenarios have been developed in order to represent realistic winter and summer cases. Simulation results, thanks to modelling with MPN and EMPC advanced control, demonstrate that the node is optimally controlled, devices dynamics are considered on a minute scale, and energy conversion from one carrier to another one is taken into account while economic cost minimisation is performed. The gained results indicate that the presented MPN modelling and optimisation approach reduces economic cost by 8.21% in winter case and 84.24% in summer case compared to the benchmarks which are composed of rule-based control.
Published: 2020
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43. The Hypoglycemia-Free Artificial Pancreas Project

Author: Magdelaine, Nicolas, Rivadeneira, Pablo S., Chaillous, Lucy, Fournier-Guilloux, Anne-Laure, Krempf, Michel, MohammadRidha, Taghreed, Aït-Ahmed, Mourad, Moog, Claude H., 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), Signal, IMage et Son (SIMS ), 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), Centre hospitalier universitaire de Nantes (CHU Nantes), Université de Nantes (UN), unité de recherche de l'institut du thorax UMR1087 UMR6291 (ITX), Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Université de Nantes - UFR de Médecine et des Techniques Médicales (UFR MEDECINE), Université de Nantes (UN)-Université de Nantes (UN), Université de Nantes - UFR de Médecine et des Techniques Médicales (UFR MEDECINE), University of Technology, Iraq, Ecole Polytechnique de l'Université de Nantes (EPUN), Commande (Commande), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), and Université de Nantes (UN)-Université de Nantes (UN)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering
Abstract: International audience; Driving blood glycaemia from hyperglycaemia to euglycaemia as fast as possible while avoiding hypoglycaemia is a major problem for decades for type-1 diabetes and is solved in this study. A control algorithm is designed that guaranties hypoglycaemia avoidance for the first time both from the theory of positive systems point of view and from the most pragmatic clinical practice. The solution consists of a state feedback control law that computes the required hyperglycaemia correction bolus in real-time to safely steer glycaemia to the target. A rigorous proof is given that shows that the control-law respects the positivity of the control and of the glucose concentration error: as a result, no hypoglycaemic episode occurs. The so-called hypo-free strategy control is tested with all the UVA/Padova T1DM simulator patients (i.e. ten adults, ten adolescents, and ten children) during a fasting-night scenario and in a hybrid closed-loop scenario including three meals. The theoretical results are assessed by the simulations on a large cohort of virtual patients and encourage clinical trials.
Published: 2020
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44. Design and Realizations of Networked Estimators: A Descriptor Model Approach

Author: Rongyao Ling, Yu Feng, Fabien Claveau, 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), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Department of Information Engineering, Zhejiang University of Technology, and Zhejiang University of Technology
Subjects: 0209 industrial biotechnology, General Computer Science, Computer science, General Engineering, Process (computing), Stability (learning theory), Estimator, 02 engineering and technology, 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, finite word length effects, 0202 electrical engineering, electronic engineering, information engineering, Robot, 020201 artificial intelligence & image processing, General Materials Science, lcsh:Electrical engineering. Electronics. Nuclear engineering, system implementation, delay systems, Representation (mathematics), Estimation, lcsh:TK1-9971, Realization (systems), Algorithm, ComputingMilieux_MISCELLANEOUS
Abstract: This paper addresses the design and realization of a networked estimator, which requires further digital implementation using several subsystems. Implementation on a digital process entails finite word length effects on the coefficients' representation, and a multiple-subsystem architecture also introduces internal time delays in the information interaction. Dealing with these intrinsic defects requires finding a resilient realization. A corresponding descriptor model-based approach is thus constructed to describe the internal time delays and equivalent realizations with finite word length effects in a unifying framework, which enables simultaneous consideration of design and realization. Based on the obtained descriptor model, a stability analysis condition is deduced and a design method for the estimator is further obtained. An algorithm is also proposed for finding the optimal realization requiring the minimum word length for stabilization. Finally, a simulation with two cooperative robots is considered to illustrate the effectiveness of the results.
Published: 2020
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45. Période de latence de Xylella fastidiosa sur le genre Citrus

Author: Deberdt, Péninna, Legrand, Philippe, Manceau, Charles, Nesme, Xavier, Olivier, Valérie, Le Bourgeois, Thomas, Balesdent, Marie-Hélène, Binet, Françoise, Biondi, Antonio, Castagnone, Philippe, Desneux, Nicolas, Desprez Loustau, Marie-Laure, Escobar Gutiérrez, Abraham, Gentzbittel, Laurent, Jactel, Hervé, Makowski, David, Monty, Arnaud, Navajas, Maria, Robin, Marie-Hélène, Steyer, Stéphan, Verheggen, François, Wetzel, Thierry, Gachet, Emmanuel, Tayeh, Christine, Fonctionnement agroécologique et performances des systèmes de cultures horticoles (UPR HORTSYS), Centre de Coopération Internationale en Recherche Agronomique pour le Développement (Cirad), Département Performances des systèmes de production et de transformation tropicaux (Cirad-PERSYST), Agence nationale de sécurité sanitaire de l'alimentation, de l'environnement et du travail (ANSES), Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Laboratoire d'Ecologie Microbienne - UMR 5557 (LEM), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Ecole Nationale Vétérinaire de Lyon (ENVL)-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)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Botanique et Modélisation de l'Architecture des Plantes et des Végétations (UMR AMAP), Centre de Coopération Internationale en Recherche Agronomique pour le Développement (Cirad)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Recherche pour le Développement (IRD [France-Sud])-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Département Systèmes Biologiques (Cirad-BIOS), BIOlogie et GEstion des Risques en agriculture (BIOGER), AgroParisTech-Université Paris-Saclay-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Ecosystèmes, biodiversité, évolution [Rennes] (ECOBIO), Centre National de la Recherche Scientifique (CNRS)-Observatoire des Sciences de l'Univers de Rennes (OSUR)-Institut Ecologie et Environnement (INEE), Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES), Università degli studi di Catania [Catania], Institut Sophia Agrobiotech (ISA), Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Université Côte d'Azur (UCA), Biodiversité, Gènes & Communautés (BioGeCo), Université de Bordeaux (UB)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Unité de Recherche Pluridisciplinaire Prairies et Plantes Fourragères (P3F), Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées, Unité Mixte de Recherche sur l'Ecosystème Prairial - UMR (UREP), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Université de Liège, Centre de Biologie pour la Gestion des Populations (UMR CBGP), Centre de Coopération Internationale en Recherche Agronomique pour le Développement (Cirad)-Centre international d'études supérieures en sciences agronomiques (Montpellier SupAgro)-Université de Montpellier (UM)-Institut de Recherche pour le Développement (IRD [France-Sud])-Institut national d’études supérieures agronomiques de Montpellier (Montpellier SupAgro), Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), AGroécologie, Innovations, teRritoires (AGIR), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Centre Wallon de Recherches Agronomiques (CRA-W), Université de Liège - Gembloux, Deutsches Zentrum für Luft- und Raumfahrt (DLR), Agence nationale de sécurité sanitaire de l'alimentation, de l'environnement et du travail, Contrat : 2019-SA-0050, Commanditaire : Agence nationale de sécurité sanitaire de l'alimentation, de l'environnement et du travail (France), Type de commande : Commande avec contrat/convention/lettre de saisine, and Date de signature : 2020-04-10
Subjects: Xylella fastidiosa, période asymptomatique, latent infection, Citrus, survival period, période de latence, sub-species pauca, latence period, timing symptoms appearance, symptoms appearance, période d’incubation, [SDV.MP.BAC]Life Sciences [q-bio]/Microbiology and Parasitology/Bacteriology, asymptomatic period, sub-species multiplex, [SDV.BV.PEP]Life Sciences [q-bio]/Vegetal Biology/Phytopathology and phytopharmacy, période endophytique, sous-espèce pauca, [SDV.MP]Life Sciences [q-bio]/Microbiology and Parasitology, endophytic period, sous-espèce multiplex, incubation period
Abstract: AVIS de l’Agence nationale de sécurité sanitaire de l’alimentation, de l’environnement et du travail relatif à une « Demande d’avis de l’Anses sur la période de latence de Xylella fastidiosa sur le genre Citrus »
Published: 2020

46. 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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47. 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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48. 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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49. 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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50. 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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