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3. Hamiltonian Point of View on Parallel Interconnection of Buck Converters Extended version

Author

Kreiss, Jérémie, Trégouët, Jean-François, Eberard, Damien, Delpoux, Romain, Gauthier, Jean-Yves, and Lin-Shi, Xuefang

Subjects
Electrical Engineering and Systems Science - Systems and Control
Abstract

In this paper, parallel interconnection of DC/DC converters is considered. For this topology of converters feeding a common load, it has been recently shown that dynamics related to voltage regulation can be completely separated from the current distribution without considering frequency separation arguments, which inevitably limits achievable performance. Within the Hamiltonian framework, this paper shows that this separation between current distribution and voltage regulation is linked to the energy conservative quantities: the Casimir functions. Furthermore, a robust control law is given in this framework to get around the fact that the load might be unknown. In this paper, we also ensure that the system converges to the optimal current repartition, without requiring explicit expression of the optimal locus. Finally, resulting control law efficiency is assessed through experimental results., Comment: 14 pages, 10 figures

Published
2019

5. Towards a Dual-User Haptic Training System User Feedback Setup

Author

Licona, Angel Ricardo, de la Pena, Guillermo Zamora, Cruz, Oscar Diaz, Lelevé, Arnaud, Ebérard, Damien, Pham, Minh Tu, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, McDaniel, Troy, editor, Berretti, Stefano, editor, Curcio, Igor D. D., editor, and Basu, Anup, editor

Published
2020
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11. Approximation of distributed delays

Author

Lu, Hao, Di Loreto, Michael, Eberard, Damien, and Simon, Jean-Pierre

Subjects
Mathematics - Optimization and Control
Abstract

We address in this paper the approximation problem of distributed delays. Such elements are convolution operators with kernel having bounded support, and appear in the control of time-delay systems. From the rich literature on this topic, we propose a general methodology to achieve such an approximation. For this, we enclose the approximation problem in the graph topology, and work with the norm defined over the convolution Banach algebra. The class of rational approximates is described, and a constructive approximation is proposed. Analysis in time and frequency domains is provided. This methodology is illustrated on the stabilization control problem, for which simulations results show the effectiveness of the proposed methodology.

Published
2010

32. On the Interconnection Structures of Irreversible Physical Systems

Author

Eberard, Damien, Maschke, Bernhard, van der Schaft, Arjan J., Thoma, M., editor, Morari, M., editor, Allgüwer, F., editor, Fleming, P., editor, Kokotovic, P., editor, Kurzhanski, A.B., editor, Kwakernaak, H., editor, Rantzer, A., editor, Tsitsiklis, J.N., editor, Bullo, Francesco, editor, and Fujimoto, Kenji, editor

Published
2007
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33. Asymptotical left inversion for single-input linear systems

Author

Jamet, H., Loreto, M. Di, and Eberard, D.

Abstract

A constructive design of a stable left inverse for single-input linear systems is proposed. Based on structural properties relating left inversion and feasibility of input reconstruction, the input observer is realized within the state-space approach, for arbitrary initial condition. While previous design is concerned with a nominal plant, that is with known parameters, we propose in a second step to apply this inversion methodology to a simplified identification problem. Reformulating the unknown parameters as a fictitious unknown input, convergent parameter estimates are retrieved from measurement. The overall methodology is illustrated by simulations.

Published
2024
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37. Hamiltonian point of view on parallel interconnection of buck converters

Author

Jean-Yves Gauthier, Jérémie Kreiss, Romain Delpoux, Xuefang Lin-Shi, Damien Eberard, Jean-Francois Tregouet, Ampère, Département Automatique pour l'Ingénierie des Systèmes (AIS), Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)

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

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

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

Author

Kévin Mariette, Eric Bideaux, Federico Bribiesca Argomedo, Damien Eberard, Sylvie Sesmat, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Mariette, Kévin, Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), and Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)

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

International audience

Published
2020

40. Strong Left Inversion of Linear Systems and Input Reconstruction

Author

Loreto, Michael Di and Eberard, Damien

Abstract

Left inversion of linear time-invariant systems aims at identifying the input acting on a system, for the zero initial state, from partial information on the input and the state. In the present contribution, we propose to generalize such left inversion for linear systems in various directions that take arbitrary initial state into consideration to address both exact and asymptotic input reconstructions. Necessary and sufficient algebraic conditions are given to achieve such strong left inversion properties. Complete characterizations of introduced concepts in terms of system zeros are provided. Relationship between inversion and input reconstruction is therefore investigated, with emphasis on causal realization. Conditions for input observer existence are proposed, and a constructive causal design for an asymptotically convergent input observer is presented.

Published
2023
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45. Strictly Proper Control Design for the Stabilization of 2×2 Linear Hyperbolic ODE-PDE-ODE Systems

Author

Federico Bribiesca-Argomedo, David Bou Saba, Michael Di Loreto, Damien Eberard, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)

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

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

Published
2019
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46. A multi-trainee architecture for haptic hands-on training

Author

Minh Tu Pham, A.R. Licona, D. Eberard, A. Lelevel, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)

Subjects
0209 industrial biotechnology, Computer science, Trainer, Training (meteorology), 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Domain (software engineering), ComputingMilieux_MANAGEMENTOFCOMPUTINGANDINFORMATIONSYSTEMS, 020901 industrial engineering & automation, Human–computer interaction, ComputingMilieux_COMPUTERSANDEDUCATION, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Architecture, Haptic technology
Abstract

International audience; Haptic simulators are used in many education domains to improve hands-on training performance. Many of these simulators are used in the medical domain, where it is particularly important to be trained, guided by an expert. However, the majority of haptic hands-on training devices are usable by only one user at the same time, either the trainer or the trainee. Dual-user approaches have enhanced this situation by allowing both trainer and trainee to use the same simulator to introduce guided training into the simulation. In this paper, we introduce a multi-trainee architecture that expands further a former dual-user hands-on haptic training solution designed according to an energetic approach. This system will permit several trainees to be involved in the same simulation at the same time, guided by a single trainer. It paves the way to the multi-trainee hands-on training on haptic simulators.

Published
2019
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47. Contrôle de la symétrie du sillage d'un corps d'Ahmed à culot

Author

Mariette, Kévin, Bideaux, Eric, Bribiesca Argomedo, Federico, Eberard, Damien, Sesmat, Sylvie, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), ANR-15-CE22-0002,ACTIV_ROAD,Réduction active de la trainée aérodynamique. Contrôle des sillages : du véhicule de tourisme au grand routier(2015), Mariette, Kévin, and Réduction active de la trainée aérodynamique. Contrôle des sillages : du véhicule de tourisme au grand routier - - ACTIV_ROAD2015 - ANR-15-CE22-0002 - AAPG2015 - VALID

Subjects
[INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [PHYS.MECA.MEFL] Physics [physics]/Mechanics [physics]/Fluid mechanics [physics.class-ph], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], [PHYS.MECA.MEFL]Physics [physics]/Mechanics [physics]/Fluid mechanics [physics.class-ph], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2019

49. Selective targeting of PARP-1 zinc finger recognition domains with Au(III) organometallics

Author

Margot N. Wenzel, Samuel M. Meier-Menches, Thomas L. Williams, Angela Casini, Eberard Rämisch, Giampaolo Barone, Wenzel, Margot N., Meier-Menches, Samuel M., Williams, Thomas L., Rämisch, Eberard, Barone, Giampaolo, and Casini, Angela

Subjects
Materials Chemistry2506 Metals and Alloys, Stereochemistry, Poly ADP ribose polymerase, Surfaces, Coatings and Film, Ceramics and Composite, 010402 general chemistry, Mass spectrometry, 01 natural sciences, Molecular mechanics, Catalysis, Coordination complex, Adduct, Catalysi, Materials Chemistry, chemistry.chemical_classification, Zinc finger, 010405 organic chemistry, Electronic, Optical and Magnetic Material, Chemistry (all), Metals and Alloys, General Chemistry, Anticancer drug, 0104 chemical sciences, Surfaces, Coatings and Films, Electronic, Optical and Magnetic Materials, chemistry, Settore CHIM/03 - Chimica Generale E Inorganica, Ceramics and Composites
Abstract

The binding of Au(iii) complexes to the zinc finger domain of the anticancer drug target PARP-1 was studied using a hyphenated mass spectrometry approach combined with quantum mechanics/molecular mechanics (QM/MM) studies. Competition experiments were carried out, whereby each Au complex was exposed to two types of zinc fingers. Notably, the cyclometallated Au-C^N complex was identified as the most selective candidate to disrupt the PARP-1 zinc finger domain, forming distinct adducts compared to the coordination compound Auphen.

Published
2018

50. Collaborative Hands-on Training on Haptic Simulators

Author

Licona Rodriguez, Angel, Liu, Fei, Lelevé, Arnaud, Eberard, Damien, Pham, Minh Tu, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), CONACYT, CSC, and ACM

Subjects
0209 industrial biotechnology, Hands-on Training, Trainer, Computer science, media_common.quotation_subject, 0206 medical engineering, Control (management), 02 engineering and technology, DUAL (cognitive architecture), 020601 biomedical engineering, Motion (physics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Human–computer interaction, Control theory, Dual User Teleoperation, Haptic Simulator, Function (engineering), media_common, Haptic technology, Gesture
Abstract

International audience; Medical trainees are required to acquire sufficient skills before touching a real patient. Nowadays, haptic simulators provide an effective solution but they do not facilitate an active supervision by a trainer who should show the right gestures in terms of motions and forces to apply, in the simulated environment. Dual user training systems aim at this purpose. Even though they permit a cooperative training, they generally dot not enable efficient demonstration/evaluation modes where the user who observes the person performing a manipulation is also able to feel the interaction forces, not only the motion. In [1], we introduced the Energy Shared Control (ESC) architecture aiming at providing the latter function. It is modeled with the Port Hamiltonian framework and it embeds a Time Domain Passivity Controller, to compose a one degree-of-freedom (dof) dual-user haptic system for hands-on training. In this paper, we extend it to three dof with three identical haptic devices. Experiments bring information about its performance.

Published
2019
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