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93 results on '"Dipartimento di Ingegneria Industriale [Trento]"'

1. Solving Nonlinear Algebraic Loops Arising in Input-Saturated Feedbacks

Author: Franco Blanchini, Giulia Giordano, Francesco Riz, Luca Zaccarian, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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)-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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: [SPI]Engineering Sciences [physics], Iterative methods, Control and Systems Engineering, Linear matrix inequalities, Heuristic algorithms, Software packages, Approximation algorithms, Simulation, Tuning, Electrical and Electronic Engineering, Computer Science Applications
Abstract: We propose a dynamic augmentation scheme for the asymptotic solution of the nonlinear algebraic loops arising in well-known input saturated feedbacks typically designed by solving linear matrix inequalities (LMIs). We prove that the existing approach based on dynamic augmentation, which replaces the static loop by a dynamic one through the introduction of a sufficiently small time constant, works under some restrictive sufficient well-posedness conditions, requiring the existence of a diagonal Lyapunov matrix. However it can fail in general, even when the algebraic loop is well-posed. Then, we propose a novel approach whose effectiveness is guaranteed whenever wellposedness holds. We also show how this augmentation allows preserving the guaranteed region of attraction with Lyapunovbased designs, as long as a gain parameter is sufficiently large. We finally propose an adaptive version of the scheme where this parameter is adjusted online. Simulation results show the effectiveness of the proposed solutions.
Published: 2023
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2. Hybrid Control of Self-Oscillating Resonant Converters

Author: Nicola Zaupa, Luis Martínez-Salamero, Carlos Olalla, Luca Zaccarian, 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)-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), Université de Toulouse (UT), Université Toulouse III - Paul Sabatier (UT3), Universitat Rovira i Virgili, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Spanish Ministry of Science and Innovation (Grant Number: PID2019-111443RB-100), International Exchange Program of the University of Trento, Italy, ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), ZAUPA, Nicola, and Systèmes Dynamiques Hybrides et en Réseau - - HANDY2018 - ANR-18-CE40-0010 - AAPG2018 - VALID
Subjects: [SPI.AUTO] Engineering Sciences [physics]/Automatic, Control and Systems Engineering, Power electronics, [SPI.NRJ]Engineering Sciences [physics]/Electric power, Electrical and Electronic Engineering, Stability of hybrid systems, Resonant converters, Power conversion, Lyapunov methods, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; We describe parallel and series resonant converters via a unified set of input-dependent coordinates whose dynamics is intrinsically hybrid. We then propose a hybrid feedback showing a self-oscillating behavior whose amplitude and frequency can be adjusted by a reference input ranging from zero to π. For any reference value in that range we give a Lyapunov function certifying the existence of a unique nontrivial hybrid limit cycle whose basin of attraction is global except for the origin. Our results are confirmed by experimental results on a series resonant converter prototype.
Published: 2023
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3. Data-driven stabilization of input-saturated systems

Author: Valentina Breschi, Luca Zaccarian, Simone Formentin, Control Systems, Eindhoven University of Technology [Eindhoven] (TU/e), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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)-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), Université de Toulouse (UT), Dipartimento di Electtronica, Informazione e Bioingegneria [Politecnico Milano] (POLIMI), Politecnico di Milano [Milan] (POLIMI), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: [SPI]Engineering Sciences [physics], Control and Optimization, Data-driven control, Control and Systems Engineering, input saturation, Linear systems, State feedback, Lyapunov methods
Abstract: International audience; We provide a data-driven stabilization approach for input-saturated systems with formal Lyapunov guarantees. Through a generalized sector condition, we propose a convex design algorithm based on linear matrix inequalities for obtaining a regionally stabilizing datadriven static state-feedback gain. Regional, rather than global, properties allow us to address non-exponentially stable plants, thereby making our design broad in terms of applicability. Moreover, we discuss consistency issues and introduce practical tools to deal with measurement noise. Numerical simulations show the effectiveness of our approach and its sensitivity to the features of the dataset.
Published: 2023
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4. Robust Global Asymptotic Stabilization of Linear Cascaded Systems With Hysteretic Interconnection

Author: Alessandro Bosso, Luca Zaccarian, Andrea Tilli, Matteo Barbieri, Department of electrical, electronic and information engineering 'GUGLIELMO MARCONI' [Bologna] (DEI), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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)-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), Université de Toulouse (UT), Bosso A., Zaccarian L., Tilli A., and Barbieri M.
Subjects: Lyapunov method, Control and Optimization, Control and Systems Engineering, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Hysteresi, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], switched systems, Prandtl-Ishlinskii operator
Abstract: International audience; We address the problem of setpoint regulation for cascaded minimum-phase linear systems interconnected through a scalar hysteresis, modeled as a Prandtl-Ishlinskii operator. Employing well-posed constrained differential inclusions to represent the hysteretic dynamics, we formulate the control problem in terms of stabilization of a compact set of equilibria depending on the hysteresis states. For our design, we firstly consider a proportional-integral controller for linear systems with hysteretic input, and provide model-free sufficient conditions based on high-gain arguments for closed-loop stability. Then, the controller is dynamically extended to obtain an inversion-free stabilizer of the overall cascade. For the presented schemes, we prove robust global asymptotic stability of a compact set that ensures setpoint regulation, regardless of the hysteresis states.
Published: 2023
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5. Hybrid Control of Self-Oscillating Resonant Converters With Three-Level Input

Author: Nicola Zaupa, Carlos Olalla, Isabelle Queinnec, Luis Martinez-Salamero, Luca Zaccarian, 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)-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), Université de Toulouse (UT), Université Toulouse III - Paul Sabatier (UT3), Universitat Rovira i Virgili, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Spanish Ministry of Science and Innovation (Grant Number: PID2019-111443RB-100 and PID2020-120151RB-I00), MUR through PRIN Grant DOCEAT (Grant Number: 2020RTWES4), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: Control and Optimization, Control and Systems Engineering, Power electronics, [SPI.NRJ]Engineering Sciences [physics]/Electric power, Stability of hybrid systems, Lyapunov methods, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; We propose a hybrid feedback law inducing self-oscillating behavior in second-order resonant converters. With our controller, the converter switches at the resonant frequency of its tank, without the need of external oscillators. In addition, the output amplitude can be adjusted by a reference signal ranging from zero to π /2. The amplitude modulation is then performed while maintaining an approximately constant switching frequency. Theoretical results show uniqueness and almost global asymptotic stability of a nontrivial hybrid limit cycle. Experimental results show that a circuit implementing the new controller successfully matches the desirable simulated behavior.
Published: 2023
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6. Open wind tunnel experiments of the DarkO tail-sitter longitudinal stabilization with constant wind

Author: Sansou, Florian, Demourant, Fabrice, Hattenberger, Gautier, Loquen, Thomas, Zaccarian, Luca, ENAC - Equipe Optim (OPTIM), Ecole Nationale de l'Aviation Civile (ENAC), ONERA / DTIS, Université de Toulouse [Toulouse], ONERA-PRES Université de Toulouse, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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)-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: Control and Systems Engineering, Hovering, Linear robust control, UAVs, Tail-sitter, UAVs Tail-sitter Hovering Linear robust control, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; We describe an experimental platform for testing the DarkO tail-sitter drone in an open wind tunnel experiment. The DarkO convertible UAV is developed and 3D printed at the Ecole Nationale de l'Aviation Civile (ENAC), in Toulouse (France). The objective of the experimental platform is to allow testing control laws in a realistic and secure context. We propose a test bench with a single degree of freedom corresponding to the drone pitch axis. We design a linear proportional/integral feedback hovering stabilizer in the presence of constant wind, and we illustrate its effectiveness in stabilizing a hovering position through experimental results.
Published: 2022
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7. Tour d’horizon sur les systèmes dynamiques hybrides

Author: Queinnec, Isabelle, Tarbouriech, Sophie, Zaccarian, Luca, 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)-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), Université de Toulouse (UT), Dipartimento di Ingegneria Industriale [Trento], and University of Trento [Trento]
Subjects: Stabilité analyse, Systèmes dynamiques hybrides, Systèmes dynamiques hybrides Stabilité Attracteur Systèmes à réinitialisation Hybrid dynamical systems Stability Attractor Reset systems, Systèmes à réinitialisation Hybrid dynamical systems, [SPI]Engineering Sciences [physics], Stabilité Lyapunov, Reset systems, Attractor, Attracteur, [MATH]Mathematics [math], Stabilité, Stability
Abstract: National audience; This paper provides an overview of hybrid dynamical systems, namely systems that comprise continuous and discrete dynamics. After presenting a mathematical framework that allows describing this class of systems, the key ideas behind the solution and stability concepts are presented mathematically and illustrated by examples. Some sufficient conditions for proving global uniform asymptotic stability are then proposed, by relying on Lyapunov functions, possibly associated with the LaSalle invariance principle.; Cet article propose un tour d’horizon sur les systèmes dynamiques hybrides, c’est-à-dire les systèmes combinant des dynamiques continues et des dynamiques discrète. Après avoir présenté le formalisme hybride qui permet de traiter cette classe de systèmes, les concepts clés de solutions et de stabilité sont abordés via des définitions mathématiques et illustrés par des exemples. Des conditions suffisantes pour prouver la stabilité asymptotique uniforme globale pour un système dynamique hybride sont alors proposées via l’utilisation d’une fonction de Lyapunov, associée dans certains cas au principe d’invariance de LaSalle.
Published: 2023
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8. Finite-time stability properties of Lur'e systems with piecewise continuous nonlinearities

Author: Mariano, Simone, Postoyan, Romain, Zaccarian, Luca, Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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)-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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: [SPI]Engineering Sciences [physics], FOS: Electrical engineering, electronic engineering, information engineering, FOS: Mathematics, Systems and Control (eess.SY), Dynamical Systems (math.DS), Mathematics - Dynamical Systems, Electrical Engineering and Systems Science - Systems and Control, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: We analyze the stability properties of Lur'e systems with piecewise continuous nonlinearities by exploiting the notion of set-valued Lie derivative for Lur'e-Postnikov Lyapunov functions. We first extend an existing result of the literature to establish the global asymptotic stability of the origin under a more general sector condition. We then present the main results of this work, namely additional conditions under which output and state finite-time stability properties also hold for the considered class of systems. We highlight the relevance of these results by certifying the stability properties of two engineering systems of known interest: mechanical systems affected by friction and cellular neural networks.
Published: 2023
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9. Soft-Reset Control with Max-of-Quadratics Lyapunov Certificates

Author: R. Bertollo, A.R. Teel, L. Zaccarian, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Center for Control, Dynamical-Systems, and Computation [Santa Barbara] (CCDC), University of California [Santa Barbara] (UC Santa Barbara), University of California (UC)-University of California (UC), 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)-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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: stability of hybrid systems, Reset control, computational methods, Control and Systems Engineering, computer-aided control design, Electrical and Electronic Engineering, hybrid systems, Computer Science Applications, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; We further develop a novel control paradigm encoding the core behavior of a reset control system within a continuoustime feedback, described by a differential inclusion. A tuning knob allows adjusting how close the continuous-time feedback resembles the behavior of the underlying reset controller. The Lyapunov conditions that we derive naturally lead to a sum-of-squares formulation allowing for the design of max-of-quadratics Lyapunov certificates certified by polynomial multipliers. A few application examples confirm the practical effectiveness of the proposed solutions.
Published: 2023
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10. Global robust attitude tracking with torque disturbance rejection via dynamic hybrid feedback

Author: Invernizzi, Davide, Lovera, Marco, Zaccarian, Luca, Politecnico di Milano [Milan] (POLIMI), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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)-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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: Control and Systems Engineering, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Electrical and Electronic Engineering
Abstract: International audience; In this paper an approach to the design of robust global attitude tracking controllers for fully actuated rigid bodies is proposed. The challenge of simultaneously dealing with topological obstructions to global attitude tracking and with disturbances affecting the attitude dynamics is tackled by means of a hybrid hierarchical design that exploits the cascade structure of the underlying mathematical model. The proposed hierarchical strategy is based on an inner-outer loop paradigm comprising a dynamic control law for angular velocity tracking (inner loop) and a hybrid control law for attitude tracking (outer loop). By leveraging recent tools for the stability analysis of hybrid systems, we prove a robust global tracking property by assuming mild properties on the dynamics of the velocity feedback. We also discuss a few relevant examples satisfying these properties, encompassing harmonic disturbance compensators and conditional integrators, capable of rejecting unknown constant disturbances with an intrinsic anti-windup action.
Published: 2022
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11. Evaluating the Impact of Mixed-Precision on Fault Propagation for Deep Neural Networks on GPUs

Author: dos Santos, Fernando Fernandes, Rech, Paolo, Kritikakou, Angeliki, Sentieys, Olivier, Architectures matérielles spécialisées pour l’ère post loi-de-Moore (TARAN), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-ARCHITECTURE (IRISA-D3), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Dipartimento di Ingegneria Industriale [Trento], and University of Trento [Trento]
Subjects: [INFO.INFO-AR]Computer Science [cs]/Hardware Architecture [cs.AR], [INFO]Computer Science [cs], [INFO.INFO-DC]Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC]
Abstract: International audience; Graphics Processing Units (GPUs) offer the possibility to execute floating-point operations (FLOP) with mixed-precisions such as INT8, FP16, Bfloat, FP32, and FP64. For Deep Neural Networks (DNNs), a reduced precision is likely to lower the execution time and power consumption as it requires a smaller hardware area and fewer clock cycles to perform instructions than the standard FP32 and FP64 precisions. As less area is needed for reduced precision, the circuit error rate is also expected to be lower [1]. NVIDIA GPUs also have tensor cores that perform matrix multiplication on hardware. The tensor cores are capable to perform a 4 ×4 FP16 matrix multiplication in one clock cycle [2]. The tensor cores can deliver up to 9 × higher performance than the software implementation of matrix multiplication (sequence of sums and multiplications) on GPUs and up to 47 ×than a CPU-based system [2].
Published: 2022
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12. A Decoupling Scheme for Force Control in Cooperative Multi-Robot Manipulation Tasks

Author: Luca De Pascali, Sebastian Erhart, Luca Zaccarian, Biral Francesco, Sandra Hirche, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Technische Universität Munchen - Université Technique de Munich [Munich, Allemagne] (TUM), 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)-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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: Internal Forces, Input Allocation, Impedance Control, Cooperative Manipulation, Interaction Dynamics, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; The internal forces and torques arising in cooperative manipulators ensembles are the grasp forces/torques and it is obviously desirable to control them. We present a novel approach that describes the internal loading as the interaction forces/torques arising in a multi-body system formed by multiple manipulators that behave like a formation of robots. We show that these quantities belong to the null space of the grasp matrix, thus they do not affect the dynamics of the object. The main contribution of this paper is a decoupling control scheme for tracking the internal and the motion-inducing forces and torques in a physically consistent way. The scheme is based on a physically and mathematically consistent model of the dynamics of the constrained interaction.
Published: 2022
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13. Two-degree-of-freedom Robust Feedback Control of a Sliding Gate Automation

Author: Cunico, D, Cenedese, A, Zaccarian, L, Borgo, M, Department of Information Engineering [Padova] (DEI), Università degli Studi di Padova = University of Padua (Unipd), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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)-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), Université de Toulouse (UT), and BFT SpA
Subjects: Linear Matrix Inequalities, Trajectory Tracking, Industrial Motion Control, Robust Control, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; A control strategy consisting of a feedforward action and a robust feedback for a gate automation is presented, where a low-cost and non-regenerative motor drive is used. A model of the system is developed and feedback linearization is used to compensate for the highly nonlinear dynamics of the electric drive. To achieve good motion tracking performance we design a smooth reference associated with a feedforward action, based on the nominal model of the system. In addition, based on a model of the uncertainties a robust feedback controller is tuned by solving a set of linear matrix inequalities, combining the optimization of a LQR cost with some pole placement constraints. Finally, we test the proposed control strategy on an experimental device, obtaining satisfactory results.
Published: 2022
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14. Simulation Aided Co-Design for Robust Robot Optimization

Author: Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Philippe Soueres, Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), 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)-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), Université de Toulouse (UT), University of Trento [Trento], Dipartimento di Ingegneria Industriale [Trento], Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, and Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3)
Subjects: Control and Optimization, robust/adaptive control, optimization and optimal control, Mechanical Engineering, simulation and animation, Biomedical Engineering, Mechanism design, methods and tools for robot system design, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Computer Science Applications, Human-Computer Interaction, Artificial Intelligence, Control and Systems Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Computer Vision and Pattern Recognition
Abstract: International audience; This paper outlines a bi-level optimization method to concurrently optimize robot hardware parameters and control trajectories that ensure robust performance. The outer loop consists in a genetic algorithm that optimizes the hardware according to its average performance when tracking a locally optimal trajectory in perturbed simulations. The tracking controller exploits the locally optimal feedback gains computed in the inner loop with a Differential Dynamic Programming algorithm, which also finds the optimal reference trajectories. Our simulations feature a complete actuation model, including friction compensation and bandwidth limits. Our method can potentially account for arbitrary perturbations, and it discards hardware designs that cannot robustly track the reference trajectories. Our results show improved performance of the designed platform in realistic application scenarios, autonomously leading to the selection of lightweight and more transparent hardware.
Published: 2022
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15. Whole-Body MPC without Foot References for the Locomotion of an Impedance-Controlled Robot

Author: Assirelli, Alessandro, Risbourg, Fanny, Lunardi, Gianni, Flayols, Thomas, Mansard, Nicolas, Risbourg, Fanny, Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), 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)-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), Université de Toulouse (UT), Dipartimento di Ingegneria Industriale [Trento], and University of Trento [Trento]
Subjects: [SPI]Engineering Sciences [physics], [SPI] Engineering Sciences [physics]
Abstract: With the fast progress of quadruped robots, we also see the rise of advanced controllers able to take wholebody decisions without any model reduction. Recently, wholebody model predictive control have been demonstrated on several legged robots. Based on these results, this paper presents a novel walking controller. Contrary to previously demonstrated approaches, our controller does not require the pre-computation of guide trajectories for the foot, nor of specific foot location, but rather decides on the flight the best foot movement using an original cost formulation. The predictive controller is then applied at the actuator level using an impedance controller, without requiring the more costly low-level torque controller that previous methods used. The method is validated on the real robot Solo, using an open-source implementation based on the solver Crocoddyl. We evaluate in depth the quality of the produced walk, despite external disturbance, and provide longer experiments in the companion video.
Published: 2022

16. A Hybrid Distributed Strategy for Robust Global Phase Synchronization of Second-Order Kuramoto Oscillators

Author: Alessandro Bosso, Ilario A. Azzollini, Simone Baldi, Luca Zaccarian, Bosso, Alessandro, Azzollini, Ilario A., Baldi, Simone, Zaccarian, Luca, Department of electrical, electronic and information engineering 'GUGLIELMO MARCONI' [Bologna] (DEI), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Nanjing Southeast University, Delft Center for Systems and Control [Delft] (DCSC), Delft University of Technology (TU Delft), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, S. Baldi was partly supported by the Double Innovation Plan Grant 4207012004 and the Special Funding for Overseas talents Grant 6207011901., ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), Nanjing Southeast University (SEU), 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: Distributed control, [INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Kuramoto Oscillator, Hybrid Control, Robustness
Abstract: International audience; This work proposes a distributed control strategy for the robust global leader-follower phase synchronization of Kuramoto oscillators with inertia. For a convenient design, the phase angles are represented as elements of the unit circle. In particular, we exploit a "half-angle" representation inspired by unit quaternions. The ensuing non-Euclidean state space poses some challenges for robust global stabilization, which can be conveniently overcome with dynamic hybrid feedback. For this reason, we propose a hybrid solution obtained by combining a distributed observer with local hysteresis-based tracking controllers. The overall closed-loop system is analyzed through reduction theorems and Lyapunov-based arguments.
Published: 2021
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17. Adaptive Hybrid Control for Robust Global Phase Synchronization of Kuramoto Oscillators

Author: Bosso, Alessandro, Azzollini, Ilario Antonio, Baldi, Simone, Zaccarian, Luca, Department of electrical, electronic and information engineering 'GUGLIELMO MARCONI' [Bologna] (DEI), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Nanjing Southeast University, Delft Center for Systems and Control [Delft] (DCSC), Delft University of Technology (TU Delft), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, Bosso, Alessandro, Nanjing Southeast University (SEU), 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: [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], distributed control, [INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], hybrid control, [INFO.INFO-MA] Computer Science [cs]/Multiagent Systems [cs.MA], robustness, Kuramoto oscillators, adaptive control, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract: A distributed controller is designed for robust global phase synchronization of a network of uncertain second-order Kuramoto oscillators with a leader system, modeled as a nonlinear autonomous exosystem. The phase angles being elements of the unit circle, we propose an adaptive hybrid strategy based on a hysteresis mechanism to obtain global results despite the well-known topological obstructions. Only an upper bound on the unknown parameters of the oscillators is required to keep the adaptive estimates in a compact set. Since the reference signal is not available to each network node, we design a distributed observer of the leader exosystem. Leveraging the results of hybrid systems theory, including reduction theorems, Lyapunov techniques, and properties of ω-limit sets, we prove robust global asymptotic stability of the closed-loop dynamics, despite the presence of an adaptive control law.
Published: 2021

18. Reset-control-based current tracking for a solenoid with unknown parameters

Author: Andreas Kugi, M. Schwegel, Luca Zaccarian, R. Bertollo, University of Trento [Trento], Vienna University of Technology (TU Wien), Austrian Institute of Technology [Vienna] (AIT), Dipartimento di Ingegneria Industriale [Trento], 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-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), 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, Computer science, 020208 electrical & electronic engineering, Feed forward, Solenoid, 02 engineering and technology, Tracking (particle physics), Stability (probability), Action (physics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Current (fluid), Reset (computing)
Abstract: International audience; We propose a hybrid controller for reference tracking for the output current of a solenoid. The solenoid can be modeled as a first-order linear plant with unknown parameters. The proposed hybrid controller comprises 1) a feedforward action, based on an estimate of the unknown plant parameters exploiting a hybrid formulation of the recursive least-squares method, and 2) a feedback action, exploiting a reset control scheme based on a first-order reset element. We prove stability properties for the closed-loop system and we show through simulations that the current output converges to the reference for sufficiently exciting reference signals.
Published: 2021
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19. Augmented obstacle avoidance controller design for mobile robots

Author: Luca Zaccarian, Philipp Braun, Research School of Electrical, Energy, and Materials Engineering, Australian National University, Canberra, Australian National University (ANU), 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, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), Braun, Philipp, Systèmes Dynamiques Hybrides et en Réseau - - HANDY2018 - ANR-18-CE40-0010 - AAPG2018 - VALID, 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: 050210 logistics & transportation, 0209 industrial biotechnology, Computer science, Orientation (computer vision), 05 social sciences, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], [MATH.MATH-DS] Mathematics [math]/Dynamical Systems [math.DS], Mobile robot, 02 engineering and technology, Tracking (particle physics), Computer Science::Robotics, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Obstacle, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0502 economics and business, Obstacle avoidance, Robot, Hybrid automaton, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract: International audience; For unicycle robots and an arbitrary continuous reference tracking controller, wepropose a control augmentation providing obstacle avoidance properties. The avoidance controllaw is activated in an eye-shaped neighborhood around an obstacle and guarantees that aspecified domain around the obstacle is not entered. Switching between different control lawsis orchestrated through a hybrid systems framework and Zeno behavior is avoided throughappropriate hysteresis regions. Since the size of the eye-shaped neighborhood and its orientationdepend continuously on the orientation and velocity of the robot, it can be guaranteed that thevelocity input of the overall control law is continuous. Numerical simulations are provided toillustrate the performance of the tracking controller endowed with the avoidance augmentation.
Published: 2021

20. An Asymmetric Stabilizer Based on Scheduling Shifted Coordinates for Single-Input Linear Systems With Asymmetric Saturation

Author: Philipp Braun, Christopher M. Kellett, Luca Zaccarian, Giulia Giordano, Australian National University (ANU), University of Trento [Trento], Dipartimento di Ingegneria Industriale [Trento], 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, 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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: Control and Optimization, Control and Systems Engineering, Convergence (routing), Mathematical analysis, Linear system, Scheduling (production processes), Extension (predicate logic), Saturation (chemistry), Lipschitz continuity, Ellipsoid, Stability (probability), Mathematics, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; Starting from a symmetric state-feedback solution ensuring α-exponential convergence in an ellipsoidal sublevel set, with asymmetric saturation and single-input linear plants, we propose a novel asymmetric scheduled extension preserving the original symmetric solution in that sublevel set and extending the guaranteed stability region to the union of all possible contractive ellipsoids centered at a shifted equilibrium. Our design being based on the solution of a parametric optimization problem, we prove continuity properties of the ensuing feedback law and we compute its explicit state-feedback expression.
Published: 2021
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21. On the Stability and Robustness of Hierarchical Vehicle Lateral Control With Inverse/Forward Dynamics Quasi-Cancellation

Author: Mauro Da Lio, Gastone Pietro Rosati Papini, Luca Zaccarian, Riccardo Dona, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, 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: Computer Networks and Communications, Computer science, optimal control (OC), Aerospace Engineering, 02 engineering and technology, Kinematics, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, Vehicle dynamics, 0203 mechanical engineering, Exponential stability, Control theory, Robustness (computer science), Advanced Driver Assistance Systems (ADAS), layered control, optimal control (OC), automated driving, vehicle dynamics, system stability, Electrical and Electronic Engineering, Curvilinear coordinates, vehicle dynamics, Advanced Driver Assistance Systems (ADAS), Feed forward, 020302 automobile design & engineering, Optimal control, system stability, Jerk, automated driving, Automotive Engineering, Trajectory, layered control
Abstract: International audience; This paper studies a control architecture for vehicle lateral dynamics based on the execution of optimal trajectories via feedforward inverse model control. The focus here is on assessing the robustness of this arrangement when the vehicle real forward dynamics is not identically cancelled by the inverse model due to model approximations and parameter uncertainties. The trajectories that are considered are analytic solutions of the minimum square jerk optimal control problem for a simplified kinematic vehicle model in curvilinear coordinates. Various hypotheses are made concerning the mismatch between the inverse model and the actual forward dynamics of the vehicle. Closed-loop stability analysis shows that the studied control scheme guarantees asymptotic stability of both the nominal and the perturbed kinematic model with significant robustness margins. In addition to the theoretical robustness analysis, the same control scheme is validated in simulation using the industry-standard software for virtual vehicle testing IPG CarMaker.
Published: 2019
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22. Reset integral control for improved settling of PID-based motion systems with friction

Author: N. van de Wouw, Andrea Bisoffi, Luca Zaccarian, Henk Nijmeijer, R. Beerens, Wpmh Maurice Heemels, Eindhoven University of Technology [Eindhoven] (TU/e), Royal Institute of Technology [Stockholm] (KTH ), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, Department of Mechanical Engineering [Eindhoven], Eindhoven University of Technology [Eindhoven] (TU/e)-Technische Universiteit Eindhoven (TU/e), Dynamics and Control, Control Systems Technology, 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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: 0209 industrial biotechnology, Friction, Computer science, Settling time, 020208 electrical & electronic engineering, PID controller, 02 engineering and technology, Transient performance, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Setpoint, 020901 industrial engineering & automation, Hybrid control, Settling, Control and Systems Engineering, Robustness (computer science), Control theory, Hybrid system, Integrator, 0202 electrical engineering, electronic engineering, information engineering, Transient performance, Hybrid control, Motion control, Friction Stability, Electrical and Electronic Engineering, Motion control, Stability, Friction Stability, Motion system
Abstract: International audience; We present a reset control approach to improve the transient performance of a PID-controlled motion system subject to Coulomb and viscous friction. A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time. Robustness for unknown static friction levels is obtained. The closed-loop system is formulated through a hybrid systems framework, within which stability is proven using a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the proposed reset controller is analyzed in an experimental benchmark study of an industrial high-precision positioning machine.
Published: 2019
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23. Hybrid model formulation and stability analysis of a PID-controlled motion system with Coulomb friction

Author: Henk Nijmeijer, Luca Zaccarian, N. van de Wouw, Andrea Bisoffi, R. Beerens, Wpmh Maurice Heemels, Royal Institute of Technology [Stockholm] (KTH ), Eindhoven University of Technology [Eindhoven] (TU/e), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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)-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), Université de Toulouse (UT), ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), 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), and Université Fédérale Toulouse Midi-Pyrénées
Subjects: Lyapunov function, 0209 industrial biotechnology, Hybrid systems, Computer science, hybrid systems, nonlinear systems, Coulomb friction, Lyapunov methods, global asymptotic stability, PID control, PID controller, 02 engineering and technology, Slip (materials science), [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, 020901 industrial engineering & automation, Differential inclusion, Exponential stability, Control theory, PID control, 0202 electrical engineering, electronic engineering, information engineering, Nonlinear systems, Hybrid automaton, Lyapunov methods, Global asymptotic stability, 020208 electrical & electronic engineering, Coulomb friction, Nonlinear system, Control and Systems Engineering, Hybrid system, symbols, Motion system
Abstract: International audience; For a PID-controlled motion system under Coulomb friction described by a differential inclusion, we present a hybrid model comprising logical states indicating whether the closed loop is in stick or in slip, thereby resembling a hybrid automaton. A key step for this description is the addition of a timer exploiting a peculiar semiglobal dwell time of the original dynamics, which then removes defective and unwanted nonconverging Zeno solutions from the hybrid model. Through it, we then revisit an existing proof of global asymptotic stability, which is significantly simplified by way of a smooth weak Lyapunov function. The relevance of the proposed hybrid representation is also illustrated on a novel control strategy resetting the PID integrator and hinging upon the proposed hybrid model.
Published: 2019
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24. High-Gain Dead-Zone Observers for Linear and Nonlinear Plants

Author: Matteo Cocetti, Sophie Tarbouriech, Luca Zaccarian, University of Trento [Trento], 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, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Dipartimento di Ingegneria Industriale [Trento], 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), and Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole)
Subjects: LMIs, 0209 industrial biotechnology, Control and Optimization, Observer (quantum physics), Noise measurement, Observers for Linear systems, Linear system, Linear matrix inequality, 02 engineering and technology, Dead zone, Adaptive systems, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Noise, 020901 industrial engineering & automation, Exponential stability, Control and Systems Engineering, Control theory, Adaptive system, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Filtering, Lyapunov methods, Mathematics
Abstract: International audience; We propose an adaptive dead-zone mechanism to robustify observers against high-frequency noise. The construction applies to Luenberger observers and high-gain observers for plants in strict feedback form. The dead-zone improves performances by trimming a portion of the output injection term and trapping the high frequency noise in the dead band. We show that the observer gain and the adaptation parameters can be obtained by solving a linear matrix inequality, whose feasibility only requires detectability of the plant. The parameters obtained through this optimization ensure (in the absence of noise) global exponential stability of the estimation error dynamics, and input-to-state stability (ISS) from the measurement noise to the estimation error.
Published: 2019
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25. Smith-Predictor-Based Torque Control of a Rolling Diaphragm Hydrostatic Transmission

Author: Marco Bolignari, Marco Fontana, Luca Zaccarian, Gianluca Rizzello, University of Trento [Trento], Saarland University [Saarbrücken], Dipartimento di Ingegneria Industriale [Trento], 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)-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), Université de Toulouse (UT), Scuola Universitaria Superiore Sant'Anna [Pisa] (SSSUP), 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), and Université Fédérale Toulouse Midi-Pyrénées
Subjects: 0209 industrial biotechnology, Damping ratio, Control and Optimization, Computer science, Biomedical Engineering, Diaphragm (mechanical device), 02 engineering and technology, torque control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Setpoint, 020901 industrial engineering & automation, 0203 mechanical engineering, Artificial Intelligence, Control theory, Torque, smith predictor, rolling diaphragm, Mechanical Engineering, Bandwidth (signal processing), actuator remotization, HRI, Hydrostatic transmission, Natural frequency, Computer Science Applications, Smith predictor, Human-Computer Interaction, 020303 mechanical engineering & transports, Control and Systems Engineering, Computer Vision and Pattern Recognition, Actuator
Abstract: International audience; Rolling Diaphragm Hydrostatic Transmissions (RDHT) are high-performance low-cost solutions to delocalize heavy actuators away from the joints of robotic systems. Exploiting a low-cost pressure-based sensing technique, we propose here a Smith-predictorbased joint torque control of an RDHT-based actuation system. We also use a load-cell sensor for ground truth validation. The developed feedback controller is conveniently tuned based on an arbitrary pre-specified closed-loop natural frequency and damping ratio. This preserves the open-loop bandwidth while removing the intrinsic oscillations of the lightly damped highly transparent open-loop plant. Experimental tests validate the proposed control strategy, both in a stand-alone torque setpoint configuration and in a series of Human-Robot-Interaction tests confirming the significant advantages of the closed-loop control architecture.
Published: 2021
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26. Explicit Construction of Stabilizing Robust Avoidance Controllers for Linear Systems With Drift

Author: Luca Zaccarian, Philipp Braun, Christopher M. Kellett, University of Newcastle [Australia] (UoN), Climate Change Institute at the Australian National University, Australian National University (ANU), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, University of Newcastle [Callaghan, Australia] (UoN), 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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: 0209 industrial biotechnology, Computer science, state constraints, robust controller design, Linear system, 02 engineering and technology, hybrid systems, Constructive, Computer Science Applications, Term (time), global asymptotic stability, [SPI.AUTO]Engineering Sciences [physics]/Automatic, obstacle avoidance, 020901 industrial engineering & automation, Exponential stability, Control and Systems Engineering, Control theory, Hybrid system, Obstacle avoidance, Electrical and Electronic Engineering
Abstract: International audience; We propose a constructive design method for linear systems with a non-trivial drift term, guaranteeing robust global asymptotic stability of the origin of the closed-loop system, as well as robust obstacle avoidance. To obtain discontinuous input actions, our controller is designed in the framework of hybrid systems. Using our proposed hybrid controller, we demonstrate that solutions do not enter a sphere, which we term an avoidance neighborhood, around specified isolated points. The constructive controller design methodology, as well as the closedloop properties, are investigated via numerical examples.
Published: 2021
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27. Quadratic Constrained Periodic Optimization for Bandlimited Linear Systems Via the Fourier-Based Method

Author: Giacomo Moretti, Franco Blanchini, Luca Zaccarian, Istituto di Tecnologie della Comunicazione, dell'Informazione e della Percezione [Pisa] (TECIP), Scuola Universitaria Superiore Sant'Anna [Pisa] (SSSUP), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, Università degli Studi di Udine - University of Udine [Italie], ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), 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: Bandlimiting, Computer science, 02 engineering and technology, frequency domain, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, Quadratic equation, 0103 physical sciences, Applied mathematics, 010301 acoustics, Instrumentation, Periodic optimization, dynamic programming, Mechanical Engineering, Linear system, convex optimisation, periodic, 021001 nanoscience & nanotechnology, Fourier series, bandlimited, Computer Science Applications, Fourier transform, Control and Systems Engineering, symbols, 0210 nano-technology, Energy harvesting, Excitation, Information Systems
Abstract: Motivated by engineering applications, we address bounded steady-state optimal control of linear dynamical systems undergoing steady-state bandlimited periodic oscillations. The optimization can be cast as a minimization problem by expressing the state and the input as finite Fourier series expansions, and using the expansions coefficients as parameters to be optimized. With this parametrization, we address linear quadratic problems involving periodic bandlimited dynamics by using quadratic minimization with parametric time-dependent constraints. We hence investigate the implications of a discretization of linear continuous time constraints and propose an algorithm that provides a feasible suboptimal solution whose cost is arbitrarily close to the optimal cost for the original constrained steady-state problem. Finally, we discuss practical case studies that can be effectively tackled with the proposed framework, including optimal control of DC/AC power converters, and optimal energy harvesting from pulsating mechanical energy sources.
Published: 2021
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28. A modular architecture for mobile robots equipped with continuous-discrete observers

Author: Luca Zaccarian, Philipp Braun, Gian Marco Vinco, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Research School of Electrical, Energy, and Materials Engineering, Australian National University, Canberra, Australian National University (ANU), 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, 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), Université de Toulouse (UT), ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), and Braun, Philipp
Subjects: 0209 industrial biotechnology, Computer science, Real-time computing, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], [MATH.MATH-DS] Mathematics [math]/Dynamical Systems [math.DS], 02 engineering and technology, Computer Science::Robotics, Set (abstract data type), 020901 industrial engineering & automation, Software, Inertial measurement unit, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Software system, Autonomous mobile robots, business.industry, 020208 electrical & electronic engineering, Linear system, Mobile robot, Modular design, Hybrid Systems, Controller Hardware/Software, Nonlinear estimation, Robot, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract: International audience; We illustrate the design and development of amodular hardware/software system for multiple unicycle-likemobile robots localized via a set of camera modules. We describethe architecture and calibration of the hardware/software setupand then discuss two continuous-discrete observation laws forthe distributed estimation of the robot positions. We show thata suitable model exploiting the onboard IMU measurementsof the robots, enables obtaining an estimation error that is acascade of two linear systems, for which we can show globalexponential convergence to zero. The results are illustrated byour experimental tests.
Published: 2021

29. Results on hybrid control of self-oscillating resonant converters

Author: Carlos Olalla, Luca Zaccarian, Nicola Zaupa, Luis Martinez-Salamero, Universitat Rovira i Virgili, 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, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), 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 de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: 0209 industrial biotechnology, Biotecnología, Self-oscillating, Feedback control strategies, Ciências agrárias i, Monotonic function, 02 engineering and technology, Topology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Software, Robustness (computer science), Limit cycle, Parallel resonant, Series resonant converters, Power electronics, Dynamical systems, 0202 electrical engineering, electronic engineering, information engineering, Representation (mathematics), Physics, Series (mathematics), Power converters, business.industry, Energy systems, 020208 electrical & electronic engineering, Engenharias ii, Systems, Astronomia / física, Interdisciplinar, Converters, Hybrid dynamical systems, Power-electronics, Stabilization, Resonant converters, Hybrid controls, Hybrid feedback control, Control and Systems Engineering, business, Ciência da computação, Voltage
Abstract: A unified set of input-dependent coordinates is proposed for the description of parallel and series resonant converters. The description naturally leads to a hybrid feedback control strategy for self-oscillating behavior. We show through a hybrid representation that the ensuing dynamics admits a unique almost globally attractive hybrid limit cycle. A tuning parameter, the switching angle, is then numerically shown to lead to monotonic variation of the peak output current/voltage and of the self-induced switching frequency. Numerical simulations with high-accuracy software illustrate the desirable behavior of the self-oscillating scheme, and it robustness to unmodeled phenomena. Copyright (C) 2021 The Authors.
Published: 2021
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30. Nonpathological ISS-Lyapunov Functions for Interconnected Differential Inclusions

Author: Matteo Dellarossa, Aneel Tanwani, Luca Zaccarian, 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)-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), Université de Toulouse (UT), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], ANR-17-CE40-0019,ConVan,Contrôle des Systèmes Interconnectés sous Contraintes en Utilisant l'Analyse Variationelle(2017), 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), and Université Fédérale Toulouse Midi-Pyrénées
Subjects: Lyapunov function, 0209 industrial biotechnology, Pure mathematics, Observer (quantum physics), Dynamical systems theory, 02 engineering and technology, Lipschitz continuity, Computer Science Applications, Nonlinear system, symbols.namesake, 020901 industrial engineering & automation, Differential inclusion, Control and Systems Engineering, Control theory, Optimization and Control (math.OC), symbols, FOS: Mathematics, Differentiable function, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Electrical and Electronic Engineering, Mathematics - Optimization and Control, Mathematics
Abstract: This article concerns robustness analysis for interconnections of two dynamical systems (described by upper semicontinuous differential inclusions) using a generalized notion of derivatives associated with locally Lipschitz Lyapunov functions obtained from a finite family of differentiable functions. We first provide sufficient conditions for input-to-state stability (ISS) for differential inclusions, using a class of non-smooth (but locally Lipschitz) candidate Lyapunov functions and the concept of Lie generalized derivative. In general our conditions are less conservative than the more common Clarke derivative based conditions. We apply our result to state-dependent switched systems, and to the interconnection of two differential inclusions. As an example, we propose an observer-based controller for certain nonlinear two-mode state-dependent switched systems., Comment: IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers
Published: 2021
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31. Localization from inertial data and sporadic position measurements

Author: Antonino Sferlazza, Filippo D'Ippolito, Luca Zaccarian, Giovanni Garraffa, Università degli studi di Palermo - University of Palermo, Università degli Studi di Trento (UNITN), 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, Zaccarian, Luca, 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), Université de Toulouse (UT), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], 0209 industrial biotechnology, Inertial frame of reference, Dynamical systems theory, Observer (quantum physics), Computer science, 020208 electrical & electronic engineering, sampled data observer, 02 engineering and technology, hybrid systems, 020901 industrial engineering & automation, Exponential stability, Control and Systems Engineering, Control theory, Position (vector), sporadic measurements, Hybrid system, Localization, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Representation (mathematics), [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Inertial navigation system
Abstract: International audience; A novel estimation strategy for inertial navigation in indoor/outdoor environments is proposed with a specific attention to the sporadic nature of the non-periodic measurements. After introducing the inertial navigation model, we introduce an observer providing an asymptotic estimate of the plant state. We use a hybrid dynamical systems representation for our results, in order to provide an effective, and elegant theoretical framework. The estimation error dynamics with the proposed observer shows a peculiar cascaded interconnection of three subsystems (allowing for intuitive gain tuning), with perturbations occurring either on the jump or on the flow dynamics (depending on the specific subsystem under consideration). For this structure, we show global exponential stability of the error dynamics. Hardware-in-the-loop results confirm the effectiveness of the proposed solution.
Published: 2020
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32. Asymmetric state feedback for linear plants with asymmetric input saturation

Author: Franco Blanchini, Simone Mariano, Luca Zaccarian, Simone Formentin, Centre de Recherche en Automatique de Nancy (CRAN), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), Università degli Studi di Udine - University of Udine [Italie], Politecnico di Milano [Milan] (POLIMI), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), 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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: Physics, 0209 industrial biotechnology, Control and Optimization, Mathematical analysis, 02 engineering and technology, Constrained control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Lyapunov methods, stability of nonlinear systems, Nonlinear dynamical systems, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, 0202 electrical engineering, electronic engineering, information engineering, Symmetric solution, 020201 artificial intelligence & image processing, Stability of nonlinear systems, Saturation (chemistry)
Abstract: International audience; We consider a linear plant with decentralized input saturation, whose limits are not necessarily symmetric. We propose a nonlinear static state feedback stabilizer that is asymmetric, in such a way that the non-symmetric nature of the saturation is fully exploited in the control design, for larger regions of attraction. We show by example that the proposed technique provides significantly larger regions of attractions as compared to the symmetric solution results, in a case where the positive and negative saturation limits are different.
Published: 2020
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33. Optimal resource allocation for stochastic systems performance optimisation of control tasks undergoing stochastic execution times

Author: Luigi Palopoli, Luca Greco, Daniele Fontanelli, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Laboratoire des signaux et systèmes (L2S), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Dipartimento di Ingegneria e Scienza dell'Informazione (DISI), and Università degli Studi di Trento (UNITN)
Subjects: 0209 industrial biotechnology, Mathematical optimization, Real–Time Control, Computer science, Control (management), 02 engineering and technology, Hybrid Systems, Computer Science Applications, Task (project management), [SPI.AUTO]Engineering Sciences [physics]/Automatic, LTI system theory, Optimisation, Stochastic Systems, 020901 industrial engineering & automation, Control and Systems Engineering, Real-time Control System, Hybrid system, 0202 electrical engineering, electronic engineering, information engineering, Optimal allocation, Resource allocation, 020201 artificial intelligence & image processing, Feedback controller, ComputingMilieux_MISCELLANEOUS
Abstract: The problem addressed in this paper is the optimal allocation of a CPU to a number of software control tasks. Each task is used to implement a feedback controller for a linear and time invariant sy...
Published: 2020
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34. Hybrid Nonovershooting Set-Point Pressure Regulation for a Wet Clutch

Author: Luca Zaccarian, Panizzolo Fabrizio, Matteo Ragni, Luca De Pascali, Matteo Cocetti, Silvia Donnarumma, Pier Paolo Rinaldi, Alex Sassaro, Francesco Biral, University of Trento [Trento], University of Genoa (UNIGE), Dana Rexroth Transmission Systems, Dipartimento di Ingegneria Industriale [Trento], 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, Università degli studi di Genova = University of Genoa (UniGe), 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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: switching control, 0209 industrial biotechnology, Computer science, wet-clutch, Hybrid/reset control, 02 engineering and technology, Transmission system, Linear matrix, Mechatronics, Set point, Computer Science Applications, overshoot, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control and Systems Engineering, Robustness (computer science), Control theory, pressure control, Torque, Clutch, Electrical and Electronic Engineering, linear matrix inequalities, Continuously variable transmission
Abstract: International audience; We propose a control oriented Wiener model for wet-clutches in filled conditions and we discuss the associated identification technique. We design a novel hybrid controller, which ensures zero steady-state error and a fast non-overshooting response. We show that the controller parameters can be conveniently obtained by solving a set of linear matrix inequalities. Finally, we test the proposed control strategy on the hydromechanical variable transmission developed by Dana-Rexroth Transmission Systems. The experiments show good performance and robustness with respect to modeling errors and noise.
Published: 2020
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35. To stick or to slip: A reset PID control perspective on positioning systems with friction

Author: Henk Nijmeijer, Andrea Bisoffi, Wpmh Maurice Heemels, Luca Zaccarian, R. Beerens, N. van de Wouw, University of Groningen [Groningen], Eindhoven University of Technology [Eindhoven] (TU/e), Department of Civil, Environmental and Geo-Engineering [Minneapolis], University of Minnesota [Twin Cities] (UMN), University of Minnesota System-University of Minnesota System, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, 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), Université de Toulouse (UT), ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), and Smart Manufacturing Systems
Subjects: Lyapunov function, 0209 industrial biotechnology, Positioning system, Computer science, Stick and slip, Coulomb friction, Stribeck friction, Positioning system, Reset control, Hybrid automata, Mechatronic application, Lyapunov results, PID controller, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, 020901 industrial engineering & automation, Exponential stability, Control theory, 0202 electrical engineering, electronic engineering, information engineering, positioning system, reset control, Stribeck friction, Lyapunov results, 020208 electrical & electronic engineering, hybrid automata, Lipschitz continuity, Exponential function, Nonlinear system, Coulomb friction, Control and Systems Engineering, symbols, Performance improvement, Software, stick and slip, mechatronic application
Abstract: International audience; We overview a recent research activity where suitable reset actions induce stability and performance of PID-controlled positioning systems suffering from nonlinear frictional effects. With a Coulomb-only effect, PID feedback produces a set of equilibria whose asymptotic (but not exponential) stability can be certified by using a discontinuous Lyapunov-like function. With velocity weakening effects (the so-called Stribeck friction), the set of equilibria becomes unstable with PID feedback and the so-called "hunting phenomenon" (persistent oscillations) is experienced. Resetting laws can be used in both scenarios. With Coulomb friction only, the discontinuous Lyapunov-like function immediately suggests a reset action providing extreme performance improvement, preserving stability and inducing desirable exponential convergence of a relevant subset of the solutions. With Stribeck, a more sophisticated set of logic-based reset rules recovers global asymptotic stability of the set of equilibria, providing an effective solution to the hunting instability. We clarify here the main steps of the Lyapunov-based proofs associated to our reset-enhanced PID controllers. These proofs involve building semiglobal hybrid representations of the solutions in the form of hybrid automata whose logical variables enable transforming the aforementioned discontinuous function into smooth or at least Lipschitz ones. Our theoretical results are illustrated by extensive simulations and experimental validation on an industrial nano-positioning system.
Published: 2020
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36. ContracT – from Legal Contracts to Formal Specifications: Preliminary Results

Author: Nicola Zeni, Luisa Mich, John Mylopoulos, Michele Soavi, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Department of Mechanical and Industrial Engineering [Brescia], Roma Tre University, School of Electrical Engineering and Computer Science (EECS), University of Ottawa [Ottawa], Jānis Grabis, Dominik Bork, TC 8, and WG 8.1
Subjects: Semantic annotation, Future studies, Process (engineering), Computer science, business.industry, ComputingMilieux_LEGALASPECTSOFCOMPUTING, 020207 software engineering, Ontology for contracts, 06 humanities and the arts, 02 engineering and technology, Ontology (information science), 0603 philosophy, ethics and religion, Structure model, Formal specification, 0202 electrical engineering, electronic engineering, information engineering, Legal contract, [INFO]Computer Science [cs], 060301 applied ethics, Structured model, Software engineering, business, Natural language
Abstract: Part 3:Formal Aspects of Enterprise Modelling; International audience; We are interested in semi-automating the process of generating a formal specification from a legal contract in natural language text form. Towards this end, we present a tool, named ContracT, that annotates legal contract text using an ontology for legal contracts. In the last part of the paper, we present results from a preliminary empirical evaluation of the tool that provided encouraging results in identifying contract concepts in text and discuss critical points to be tackled in future studies.
Published: 2020
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37. Integral ISS-Based Cascade Stabilization for Vectored-Thrust UAVs

Author: Davide Invernizzi, Marco Lovera, Luca Zaccarian, Politecnico di Milano [Milan] (POLIMI), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, 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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: 0209 industrial biotechnology, Control and Optimization, Computer science, Thrust, 02 engineering and technology, Vehicle dynamics, Attitude control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, Transient analysis, 020901 industrial engineering & automation, Mathematical model, Control theory, Position (vector), 0202 electrical engineering, electronic engineering, information engineering, Force, Underactuation, 020208 electrical & electronic engineering, Stability analysis, Nonlinear system, Control and Systems Engineering, Cascade, Performance improvement, Control design
Abstract: International audience; We address stabilization of vectored-thrust Unmanned Aerial Vehicles (UAVs): a challenging task due to the peculiar nonlinear underactuated dynamics. According to a wellestablished approach based on the selection of suitable error variables, the error dynamics is described as a pseudo cascade connection where the attitude subsystem indirectly stabilizes the position dynamics. Unlike existing works, we address stability of this cascade using integral Input to State Stability (iISS). With this extension it is possible to employ a quasi time-optimal control law to achieve global asymptotic stabilization of any desired position, thus improving the transient performance with respect to existing control designs. A simulation example shows the performance improvement in comparison with a nested saturations stabilizer.
Published: 2020
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38. Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs

Author: Davide Invernizzi, Marco Lovera, Luca Zaccarian, Politecnico di Milano [Milan] (POLIMI), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, 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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: 0209 industrial biotechnology, thrust vectoring, Computer science, Underactuation, Propeller, Control engineering, ComputerApplications_COMPUTERSINOTHERSYSTEMS, 02 engineering and technology, UAVs, Dynamical system, Computer Science Applications, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Attitude control, 020901 industrial engineering & automation, Control and Systems Engineering, Trajectory, Decoupling (probability), trajectory tracking, Electrical and Electronic Engineering, Thrust vectoring
Abstract: This paper addresses the trajectory tracking control problem for underactuated unmanned aerial vehicles (UAVs), with specific focus on vehicles with thrust-vectoring capabilities. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks. Since position tracking is of utmost importance for applications involving aerial vehicles, we propose a control scheme in which position tracking is the primary objective. To this end, this paper exploits the concept of attitude planner, a dynamical system through which the desired attitude reference is processed to guarantee the satisfaction of the primary objective: The attitude tracking task is considered as a secondary objective, which can be realized as long as the desired trajectory satisfies specific trackability conditions.
Published: 2020
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39. A Class of Hybrid Velocity Observers for Angular Measurements With Jumps

Author: Luca Zaccarian, Paolo Bosetti, Mirko Brentari, University of Trento [Trento], Dipartimento di Ingegneria Industriale [Trento], 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)-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), Université de Toulouse (UT), 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), and Université Fédérale Toulouse Midi-Pyrénées
Subjects: 0209 industrial biotechnology, Control and Optimization, Observer (quantum physics), Computer science, Capacitive sensing, 020208 electrical & electronic engineering, 02 engineering and technology, Experimental validation, Tracking (particle physics), Class (biology), [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, Jump
Abstract: International audience; We propose a hybrid nonlinear high-gain observer to estimate the speed of rotary systems equipped with potentiometer-based, capacitive or hall-effect rotary sensors or providing angular measurements evolving in S1, exhibiting unpredictable jumps of 2π. A hybrid measurement model is proposed, based on which a hybrid high-gain observer is synthesized, which does not require the knowledge of the jump times. Asymptotic tracking of the proposed observer is proven. A sampled-data approximation of the proposed observer is developed as well, based on which an experimental validation shows suitability for real-time applications.
Published: 2018
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40. Almost Everywhere Conditions for Hybrid Lipschitz Lyapunov Functions

Author: Rafal Goebel, Matteo Della Rossa, Aneel Tanwani, Luca Zaccarian, 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, Loyola University of Chicago, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), ANR-17-CE40-0019,ConVan,Contrôle des Systèmes Interconnectés sous Contraintes en Utilisant l'Analyse Variationelle(2017), Della Rossa, Matteo, Systèmes Dynamiques Hybrides et en Réseau - - HANDY2018 - ANR-18-CE40-0010 - AAPG2018 - VALID, Contrôle des Systèmes Interconnectés sous Contraintes en Utilisant l'Analyse Variationelle - - ConVan2017 - ANR-17-CE40-0019 - AAPG2017 - VALID, 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, Dynamical systems theory, Dense set, 010102 general mathematics, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], 02 engineering and technology, Function (mathematics), Lipschitz continuity, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Exponential stability, symbols, Applied mathematics, Almost everywhere, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Differentiable function, 0101 mathematics, Mathematics
Abstract: International audience; We introduce a class of locally Lipschitz continuous functions to establish stability of hybrid dynamical systems. Under certain regularity assumptions on system dynamics, we provide sufficient conditions for asymptotic stability on the candidate Lyapunov function. In contrast to the existing literature, these conditions need to be checked only on a dense set using the conventional gradient of certain functions, without the necessity of relying on Clarke's generalized gradient. We discuss the relevance of the stated assumptions with the help of some counterexamples, underlining the subtlety of the proposed relaxation. As an application of our result, we study the stability of a classical example from the reset control literature: the Clegg integrator model, with convex and nonconvex Lyapunov functions, which are almost everywhere differentiable.
Published: 2019
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41. A Hybrid Adaptive Inverse for Uncertain SISO Linear Plants with Full Relative Degree *

Author: Luca Zaccarian, Matteo Ragni, Sophie Tarbouriech, Matteo Cocetti, 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, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, Degree (graph theory), Basis (linear algebra), 020208 electrical & electronic engineering, Regulator, Inverse, 02 engineering and technology, Action (physics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Discrete time and continuous time, Control theory, Hybrid system, 0202 electrical engineering, electronic engineering, information engineering, Full Relative, Mathematics
Abstract: International audience; We propose a hybrid adaptive feed-forward regulator for single-input single-output linear plants with full relative degree. The scheme includes an adaptive law that estimates the inverse of the plant and provides a feed-forward control calculated on the basis of the desired output and its derivatives. The adaptation is performed during discrete time events, called jumps, while the feed-forward action is continuous. This combination leads to a full hybrid system. The advantage of this framework is a conceptual separation between the adaptation dynamics, which is discrete, and the plant dynamics, which is continuous. Under an assumption of a persistence of excitation, we show through examples that the output asymptotically tracks the desired reference and that the estimate of the parameters of the inverse converges.
Published: 2019
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42. Synchronization in Networks of Identical Nonlinear Systems via Dynamic Dead Zones

Author: Giacomo Casadei, Angelo Alessandri, Daniele Astolfi, Luca Zaccarian, 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), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure de Chimie Physique Électronique de Lyon (CPE)-Centre National de la Recherche Scientifique (CNRS), Dipartimento di Ingegneria Meccanica, Energetica, Gestionale e dei Trasporti (DIME), Università degli studi di Genova = University of Genoa (UniGe), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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)-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), Université de Toulouse (UT), ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), Ampère, Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-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), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Universita degli studi di Genova, 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)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J), 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 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), and Université Fédérale Toulouse Midi-Pyrénées
Subjects: 0209 industrial biotechnology, Control and Optimization, Noise measurement, Computer science, Property (programming), 02 engineering and technology, Dead zone, dynamic dead zones, Synchronization, networks of nonlinear systems, Stability (probability), measurement noise, Noise, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Synchronization (computer science), 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], 020201 artificial intelligence & image processing, Synchronization, networks of nonlinear systems, measurement noise, dynamic dead zones, Diffusive coupling
Abstract: International audience; In this paper, we consider the problem of synchronization of a network of nonlinear systems with high-frequency noise affecting the exchange of information. We modify the classic (linear) diffusive coupling by adding dynamic dead zones with the aim of reducing the impact of the noise. We show that the proposed redesign preserves asymptotic synchronization if the noise is not active and we establish a desired ISS property. Simulation results show that, in the presence of noise, the dynamic dead zones highly improve the rejection properties.
Published: 2019
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43. Discontinuous model recovery anti-windup for image based visual servoing

Author: Henry de Plinval, Laurent Burlion, Sophie Tarbouriech, Luca Zaccarian, ONERA / DTIS, Université de Toulouse [Toulouse], ONERA-PRES Université de Toulouse, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, ONERA - The French Aerospace Lab [Toulouse], ONERA, 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, Invariance principle, Computer science, 020208 electrical & electronic engineering, 02 engineering and technology, Time-varying systems, Space (mathematics), Object (computer science), Visual servoing, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Double integrator, 020901 industrial engineering & automation, Exponential stability, Model recovery anti-windup, Control and Systems Engineering, Control theory, Position (vector), 0202 electrical engineering, electronic engineering, information engineering, Uncertain systems, Electrical and Electronic Engineering, Image-based visual servo control, Anti windup
Abstract: International audience; A discontinuous model recovery anti-windup technique is proposed for a double integrator with the output measurement corrupted by a time-varying scaling factor. This challenging measurement configuration arises in vision-based control, where the position of an object moving in the three-dimensional space is determined using two-dimensional images. We prove uniform global asymptotic stability of the closed loop by applying an invariance principle argument to the regularized dynamics. The effectiveness of the proposed approach is illustrated on a visual aircraft landing simulation example.
Published: 2019
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44. A switched and scheduled design for model recovery anti-windup of linear plants

Author: Simona Onori, Sergio Galeani, Andrea Cristofaro, Luca Zaccarian, Dipartimento di Informatica, Sistemi e Produzione [Roma] (DISP), Università degli Studi di Roma Tor Vergata [Roma], Stanford University, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, 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, switched stabilizer, Computer science, Model recovery anti-windupScheduled stabilizerSwitched stabilizerBounded control, General Engineering, bounded control, 02 engineering and technology, Bounded control, Model recovery anti-windup, Scheduled stabilizer, Switched stabilizer, Lipschitz continuity, Ellipsoid, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Set (abstract data type), Hysteresis, Nonlinear system, 020901 industrial engineering & automation, Settore ING-INF/04 - Automatica, Control theory, 0202 electrical engineering, electronic engineering, information engineering, State space, model recovery anti-windup, 020201 artificial intelligence & image processing, Selection (genetic algorithm), Anti windup, scheduled stabilizer
Abstract: International audience; We provide two nonlinear solutions to the model recovery anti-windup (MRAW) design problem, both of them relying on the definition of a set of nested ellipsoids in the state space of the anti-windup dynamics. Each ellipsoidal set arises from a convenient trade-off between size of the ellipsoid and guaranteed exponential convergence rate induced by the corresponding saturated feedback. The first solution is given by a hybrid selection of the MRAW stabilizer, relying on a natural hysteresis switching mechanism. The second solution corresponds to a Lipschitz but non-differentiable scheduled selection, which essentially smoothens out the discontinuous nature of the nested ellipsoids. We discuss the role of our design architecture and establish a number of important properties induced by the proposed controllers. Their effectiveness is comparatively illustrated on a few example studies.
Published: 2019
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45. Hybrid models of opinion dynamics with opinion-dependent connectivity

Author: Sophie Tarbouriech, Luca Zaccarian, Paolo Frasca, Systèmes Commandés en Réseau (NECS-POST), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), 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)-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), Université de Toulouse (UT), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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), and Université Fédérale Toulouse Midi-Pyrénées
Subjects: Lyapunov function, Physics::Physics and Society, 0209 industrial biotechnology, Computer science, Lyapunov analysis, Stability (learning theory), 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, 020901 industrial engineering & automation, Convergence (routing), 0202 electrical engineering, electronic engineering, information engineering, Hybrid dynamical systems, Opinion dynamics, Statistical physics, Electrical and Electronic Engineering, 020208 electrical & electronic engineering, Interaction model, n/a OA procedure, Flow (mathematics), Control and Systems Engineering, Hybrid system, Ordinary differential equation, symbols, Pairwise comparison, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC]
Abstract: International audience; This paper is a first attempt at using tools from the theory of hybrid systems to study opinion dynamics on networks with opinion-dependent connectivity. According to the hybrid framework, our dynamics are represented by the combination of continuous flow dynamics and discrete jump dynamics. The flow embodies the attractive forces between the agents and is defined by an ordinary differential equation whose right-hand side is a Laplacian, whereas the jumps describe the activation or deactivation of the pairwise interactions between agents. We first reformulate the classical Hegselmann–Krause model in this framework and then define a novel interaction model, which has the property of being scale-invariant. We study the stability and convergence properties of both models by a Lyapunov analysis, showing convergence and clusterization of opinions.
Published: 2019
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46. Synchronization of interconnected linear systems via dynamic saturation redesign

Author: Daniele Astolfi, Luca Zaccarian, Angelo Alessandri, Giacomo Casadei, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère, 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)-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), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), University of Genoa (UNIGE), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), 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)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J), Ampère (AMPERE), 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), 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 de Lyon-Université de Lyon-École Supérieure de Chimie Physique Électronique de Lyon (CPE)-Centre National de la Recherche Scientifique (CNRS), Università degli studi di Genova = University of Genoa (UniGe), 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), Université de Toulouse (UT), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: 0209 industrial biotechnology, Property (programming), Computer science, 020208 electrical & electronic engineering, Linear system, 02 engineering and technology, Synchronization, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Synchronization (computer science), 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Saturation (chemistry)
Abstract: International audience; We propose a technique to modify a given discrete-time (nonlinear) observer so that the state estimate remains in a given convex set, without altering the observer performances in terms of convergence and robustness to external disturbances. The proposed approach can be used to remove the peaking phenomenon or to attenuate the effect of impulsive outliers in the measures. it assumes that it is possible to execute a certain number of computations between any two sampling times in order to refine the current estimate and bring it back into the prescribed set. The proposed technique can be applied to any class of nonlinear observers for which a quadratic Lyapunov function is used to prove stability.
Published: 2019
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47. Unsafe Point Avoidance in Linear State Feedback

Author: Luca Zaccarian, Christopher M. Kellett, Philipp Braun, Fachbereich Physik [Duisburg], Universität Duisburg-Essen = University of Duisburg-Essen [Essen], Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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)-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), Université de Toulouse (UT), Universität Duisburg-Essen [Essen], 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), and Université Fédérale Toulouse Midi-Pyrénées
Subjects: 0209 industrial biotechnology, Property (programming), Computer science, 020208 electrical & electronic engineering, 02 engineering and technology, Constructive, Task (project management), [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Exponential stability, Control theory, 0202 electrical engineering, electronic engineering, information engineering, State space, Point (geometry), Subspace topology, Linear state feedback
Abstract: International audience; We propose a hybrid solution for the stabilization of the origin of a linear time-invariant stabilizable system with the property that a suitable neighborhood of a pre-defined unsafe point in the state space is avoided by the closed-loop solutions. Hybrid tools are motivated by the fact that the task at hand cannot be solved with continuous feedback, whereas the proposed hybrid solution induces nominal and robust asymptotic stability of the origin. More specifically, we formulate a semiglobal version of the problem at hand and describe a fully constructive approach under the assumption that the unsafe point to be avoided does not belong to the equilibrium subspace induced by the control input on the linear dynamics. The approach is illustrated on a numerical example
Published: 2018

48. Max–min Lyapunov functions for switched systems and related differential inclusions

Author: Aneel Tanwani, Luca Zaccarian, Matteo Della Rossa, 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, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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: Convex hull, Lyapunov function, 0209 industrial biotechnology, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], 020208 electrical & electronic engineering, 02 engineering and technology, Function (mathematics), Directional derivative, [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, Stability conditions, 020901 industrial engineering & automation, Differential inclusion, Optimization and Control (math.OC), Control and Systems Engineering, FOS: Mathematics, 0202 electrical engineering, electronic engineering, information engineering, symbols, Applied mathematics, Vector field, Electrical and Electronic Engineering, Mathematics - Optimization and Control, Finite set, Mathematics
Abstract: Starting from a finite family of continuously differentiable positive definite functions, we study conditions under which a function obtained by max-min combinations is a Lyapunov function, establishing stability for two kinds of nonlinear dynamical systems: a) Differential inclusions where the set-valued right-hand-side comprises the convex hull of a finite number of vector fields, and b) Autonomous switched systems with a state-dependent switching signal. We investigate generalized notions of directional derivatives for these max-min functions, and use them in deriving stability conditions with various degrees of conservatism, where more conservative conditions are numerically more tractable. The proposed constructions also provide nonconvex Lyapunov functions, which are shown to be useful for systems with state-dependent switching that do not admit a convex Lyapunov function. Several examples are included to illustrate the results., To appear in Automatica
Published: 2020
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49. Linear output regulation with dynamic optimization for uncertain linear over-actuated systems

Author: Matteo Cocetti, Luca Zaccarian, Andrea Serrani, University of Trento [Trento], Ohio State University [Columbus] (OSU), Dipartimento di Ingegneria Industriale [Trento], 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, 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, Computer science, Internal model, 02 engineering and technology, dynamic input allocation, 01 natural sciences, 010305 fluids & plasmas, Power (physics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Annihilator, Allocator, 020901 industrial engineering & automation, uncertain systems, Control and Systems Engineering, Robustness (computer science), Control theory, 0103 physical sciences, Redundancy (engineering), State (computer science), Electrical and Electronic Engineering, Linear output regulation, optimization
Abstract: International audience; This paper considers the linear output regulation problem for uncertain over-actuated plants. The general form of input redundancy considered in this work implies the existence of multiple control inputs and state trajectories compatible with a prescribed reference for the output. On-line selection, according to certain performance criteria, of the most suitable of these inputs-state trajectories leads to a linear output regulation problem with dynamic redundancy allocation. We present a solution that augments the well known internal model control scheme with two additional dynamical systems. The first one, named annihilator, parametrizes the inputs and the corresponding state trajectories that are invisible from the output. The second one, named redundancy allocator, dynamically selects the best solution according to a predefined performance criterion. We derive explicit solutions for the performance criterion equal to relaxed 1, 2, and ∞-norms of the plant input. This setup is a particular case of the dynamic redundancy allocation problem named dynamic input allocation. The proposed solutions can be implemented in an error feedback form and are especially suitable for optimizing sparsity, power and amplitude of the control input. Finally, structural stability, robustness and existence of a unique steady-state are proven.
Published: 2018
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50. Relay-based hybrid control of minimal-order mechanical systems with applications

Author: Luca Zaccarian, Fulvio Forni, Andrea Bisoffi, Mauro Da Lio, Dipartimento di Ingegneria Industriale, Università degli Studi di Trento (UNITN), University of Cambridge [UK] (CAM), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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, 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), Université de Toulouse (UT), Forni, Fulvio [0000-0002-5728-0176], and Apollo - University of Cambridge Repository
Subjects: Lyapunov function, 0209 industrial biotechnology, Computer science, reset actions, 02 engineering and technology, stability analysis, periodic motion, Nonlinear control systems, Nonlinear systems, Relay control, Reset actions, Discontinuous control, Forced oscillations, Periodic motion, Limit cycles, Global stability, Asymptotic stability, Lyapunov stability, Stability analysis, Lyapunov methods, Mechanical systems, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, 020901 industrial engineering & automation, Exponential stability, Relay, law, Control theory, Attractor, 0202 electrical engineering, electronic engineering, information engineering, Nonlinear control systems, relay control, Electrical and Electronic Engineering, Lyapunov methods, Lyapunov stability, asymptotic stability, limit cycles, 020208 electrical & electronic engineering, mechanical systems, global stability, Mechanical system, Nonlinear system, Control and Systems Engineering, discontinuous control, Hybrid system, symbols, nonlinear systems, forced oscillations
Abstract: International audience; This work explores the potential of relay-based control on a one-degree-of-freedom nonlinear mechanical system, in the contexts of both sustaining and damping oscillations. For both cases we state our main results building upon a simple reset formulation (relay feedback) and providing intuitive basic equations from classical mechanics. With a more rigorous description following a hybrid system formalism, we establish then the global asymptotic stability of the corresponding (compact-set) attractors through hybrid Lyapunov tools. The aspects of sustaining and damping oscillation are seen as complementary, because they reduce to a suitable mirroring of the reset surface. Finally, we discuss two applications of our results to the case of a hopping mass and an automotive suspension.
Published: 2018
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