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7 results on '"Bourgois, Auguste"'

1. Interval centred form for proving stability of non-linear discrete-time systems

Author

Bourgois, Auguste and Jaulin, Luc

Subjects
Electrical Engineering and Systems Science - Systems and Control
Abstract

In this paper, we propose a new approach to prove stability of non-linear discrete-time systems. After introducing the new concept of stability contractor, we show that the interval centred form plays a fundamental role in this context and makes it possible to easily prove asymptotic stability of a discrete system. Then, we illustrate the principle of our approach through theoretical examples. Finally, we provide two practical examples using our method : proving stability of a localisation system and that of the trajectory of a robot., Comment: In Proceedings SNR 2020, arXiv:2101.05256

Published
2021
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2. Autonomous Cooperative Flight Control for Airship Swarms

Author

Artaxo, Pedro G., Bourgois, Auguste, Sardinha, Hugo, Vieira, Henrique, de Paiva, Ely Carneiro, Fioravanti, Andre R., and Vargas, Patricia A.

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

This work investigates two approaches for the design of autonomous cooperative flight controllers for airship swarms. The first controller is based on formation flight and the second one is based on swarm intelligence strategies. In both cases, the team of airships needs to perform two different tasks: waypoint path following and ground moving target tracking. The UAV platform considered in this work is the NOAMAY airship developed in Brazil. We use a simulated environment to test the proposed approaches. Results show the inherent flexibility of the swarm intelligence approach on both tasks., Comment: 16 pages, 23 figures

Published
2020

6. Union and Intersection Operators for Thick Ellipsoid State Enclosures: Application to Bounded-Error Discrete-Time State Observer Design

Author

Rauh, Andreas, Bourgois, Auguste, Jaulin, Luc, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Equipe ROBotics for EXploration (Lab-STICC_ROBEX), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)

Subjects
outer state enclosures, lcsh:T55.4-60.8, thick ellipsoids, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], set-valued intersection and union, ellipsoidal enclosures, lcsh:Industrial engineering. Management engineering, inner enclosures, lcsh:Electronic computers. Computer science, ComputingMilieux_MISCELLANEOUS, lcsh:QA75.5-76.95, [SPI.AUTO]Engineering Sciences [physics]/Automatic, set-valued state estimation
Abstract

Thick ellipsoids were recently introduced by the authors to represent uncertainty in state variables of dynamic systems, not only in terms of guaranteed outer bounds but also in terms of an inner enclosure that belongs to the true solution set with certainty. Because previous work has focused on the definition and computationally efficient implementation of arithmetic operations and extensions of nonlinear standard functions, where all arguments are replaced by thick ellipsoids, this paper introduces novel operators for specifically evaluating quasi-linear system models with bounded parameters as well as for the union and intersection of thick ellipsoids. These techniques are combined in such a way that a discrete-time state observer can be designed in a predictor-corrector framework. Estimation results are presented for a combined observer-based estimation of state variables as well as disturbance forces and torques in the sense of an unknown input estimator for a hovercraft.

Published
2021
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