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## Grenoble- Rhône-Alpes THEME Modeling, Optimization, and Control of Dynamic SystemsTable of contents

### Citations

1012 | publications by the team in recent years - Major |

596 |
Convex Analysis and Minimization Algorithms
- Hiriart-Urruty, Lemaréchal
- 1993
(Show Context)
Citation Context ... (λ(A(x))), A being a symmetric matrix and λ its spectrum. For these types of problems, we are mainly interested in developing efficient resolution algorithms. Our basic tool is bundling (Chap. XV of =-=[10]-=-) and we act along two directions: • • To explore application areas where nonsmooth optimization algorithms can be applied, possibly after some tayloring. A rich field of such application is combinato... |

82 | Numerical Methods for Nonsmooth Dynamical Systems - Acary, Brogliato - 2008 |

63 | Nonsmooth mechanics - Brogliato - 1999 |

49 | Super-helices for predicting the dynamics of natural hair
- Bertails, Audoly, et al.
- 2006
(Show Context)
Citation Context ...ical rods Participants: Florence Bertails-Descoubes, Romain Casati.10 Activity Report INRIA 2012 Reduced-coordinates models for rods such as the articulated rigid body model or the super-helix model =-=[39]-=- are able to capture the bending and twisting deformations of thin elastic rods while strictly and robustly avoiding stretching deformations. In this work we are exploring new reduced-coordinates mode... |

41 |
Some Perspectives on the Analysis and Control of Complementarity Systems
- Brogliato
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Citation Context ...o another. The 4th line defines how transitions are performed by the state x. There are several other formalisms which are quite related to complementarity. A tutorial-survey paper has been published =-=[4]-=-, whose aim is to introduce the dynamics of complementarity systems and the main available results in the fields of mathematical analysis, analysis for control (controllability, observability, stabili... |

39 | Semidefinite relaxations and Lagrangian duality with application to combinatorial optimization
- LEMARÉCHAL, OUSTRY
- 1999
(Show Context)
Citation Context ...e application areas where nonsmooth optimization algorithms can be applied, possibly after some tayloring. A rich field of such application is combinatorial optimization, with all forms of relaxation =-=[12]-=-, [11]. To explore the possibility of designing more sophisticated algorithms. This implies an appropriate generalization of second derivatives when the first derivative does not exist, and we use adv... |

38 | Dissipative Systems Analysis and Control - Lozano, Brogliato, et al. - 2000 |

31 | A.: Solving max-cut to optimality by intersecting semidefinite and polyhedral relaxations
- Rendl, Rinaldi, et al.
- 2010
(Show Context)
Citation Context ...n engine) to zero, and iteratively adding triangle inequality cuts. We also precisely analyzed its theoretical convergence properties. We show that our method outperform the state-of-the-art solver ( =-=[52]-=-) on the large test-problems. Heaviest k-subgraph problems. Our previous work [51] takes advantage of the new bounds in their basic form to prune very well in the search tree. Its performances are the... |

31 | A survey on distributed estimation and control applications using linear consensus algorithms
- Garin, Schenato
- 2011
(Show Context)
Citation Context ... performance measure when the algorithm is used for different purposes, e.g., within a distributed estimation or control algorithm. Examples of various relevant costs can be found in the book chapter =-=[50]-=- and in the references therein. We are interested in evaluating the effect of the topology of the communication graph on performance, in particular for large-scale graphs. Motivated by the study of wi... |

29 | Absolute Stability and the Lagrange-Dirichlet Theorem with Monotone
- Brogliato
(Show Context)
Citation Context ...s of set-valued Lur’e systems, with applications in complementarity dynamical systems, relay systems, mechanical systems with dry friction, electrical circuits, etc.Our works in this field started in =-=[40]-=-. The results in [42] extend those in [41] with an accurate characterization of the maximal monotonicity of the central operator of these systems. Concrete and verifiable criteria are provided for the... |

27 | Lifted coordinate descent for learning with trace-norm regularization
- Dudik, Harchaoui, et al.
- 2012
(Show Context)
Citation Context ...ional gadient), whose iterations have an algorithmic complexity lower that an order compared to standard methods. For example, applied to learning problems with trace-norm penalization, our algorithm =-=[26]-=- exploit the atomic decomposition of the norm and compute only an approximate largest singular vector pair (instead of the whole singular value decomposition). Promising results [27] have been obtaine... |

22 | On the control of finite-dimensional mechanical systems with unilateral constraint - Brogliato, Niculescu, et al. - 1997 |

19 |
Lagrangian relaxation,” in Computational Combinatorial Optimization
- Lemaréchal
- 2001
(Show Context)
Citation Context ...ication areas where nonsmooth optimization algorithms can be applied, possibly after some tayloring. A rich field of such application is combinatorial optimization, with all forms of relaxation [12], =-=[11]-=-. To explore the possibility of designing more sophisticated algorithms. This implies an appropriate generalization of second derivatives when the first derivative does not exist, and we use advanced ... |

19 | Large-scale image classification with trace-norm regularization
- Harchaoui, Douze, et al.
- 2012
(Show Context)
Citation Context ...on, our algorithm [26] exploit the atomic decomposition of the norm and compute only an approximate largest singular vector pair (instead of the whole singular value decomposition). Promising results =-=[27]-=- have been obtained on the image database Imagenet, where we show significant improvements compare to the state-of-the-art approaches (one-vs-rest strategies). 6.3.2. Semidefinite programming and comb... |

19 |
Kinematic control of redundant manipulators: Generalizing the taskpriority framework to inequality tasks
- Kanoun, Lamiraux, et al.
- 2011
(Show Context)
Citation Context ...r, Dimitar Dimitrov.Project-Team BIPOP 9 We are working in collaboration with the LAAS-CNRS and the CEA-LIST on solving multi-objective Quadratic Programs with Lexicographic ordering: Hierarchic QPs =-=[47]-=-. The focus this year has been on enabling fast computations in the case of time-varying Hierarchic QPs through warm-starting the active set method. This has been possible by developing an active set ... |

18 | A proximal bundle method with approximate subgradient linearizations
- Kiwiel
- 2006
(Show Context)
Citation Context ...ealistic modeling of technical production constraints makes the dual objective function computed inexactly though. An inexact version of the bundle method has been dedicated to tackle this difficulty =-=[48]-=-. However, the computed optimal dual variables show a noisy and unstable behaviour, that could prevent their use as price indicator. We propose a simple and controllable way to stabilize the dual opti... |

18 | A novel stability analysis of linear systems under asynchronous samplings
- Seuret
(Show Context)
Citation Context ... limitations and the quality of the send/received information protocols. More informations about the main research directions of the team can be found in [1], [3],[2], [4] [5], [6], [7], [8], [9] and =-=[10]-=-. 6 Activity Report INRIA 2011 In short, the project is centered along the following 3 main axes: 1. Control under Communications Constraints. One well established topic along this axis concerns the c... |

17 | Stable inverse dynamic curves
- DEROUET-JOURDAN, BERTAILS-DESCOUBES, et al.
- 2010
(Show Context)
Citation Context ... of slender structures such as rods is desirable in many design applications (such as hairstyling, reverse engineering, etc.), but solving the corresponding inverse problem is not straightforward. In =-=[43]-=- we noted that reduced-coordinates models such as the super-helix are well-suited for static inversion in presence of gravity. The main difficulty then amounts to fitting a piecewise helix to an arbit... |

17 |
An H∞ LPV design for sampling varying controllers: Experimentation with a T-inverted pendulum
- Robert, Sename, et al.
- 2010
(Show Context)
Citation Context ...nnel capacity limitations and the quality of the send/received information protocols. More informations about the main research directions of the team can be found in [1], [3],[2], [4] [5], [6], [7], =-=[8]-=-, [9] and [10]. 6 Activity Report INRIA 2011 In short, the project is centered along the following 3 main axes: 1. Control under Communications Constraints. One well established topic along this axis ... |

12 |
O.: ‘A new predictive approach for bilateral teleoperation with applications to drive-by-wire systems
- Pan, Canudas-de-Wit, et al.
(Show Context)
Citation Context ...e channel capacity limitations and the quality of the send/received information protocols. More informations about the main research directions of the team can be found in [1], [3],[2], [4] [5], [6], =-=[7]-=-, [8], [9] and [10]. 6 Activity Report INRIA 2011 In short, the project is centered along the following 3 main axes: 1. Control under Communications Constraints. One well established topic along this ... |

11 | A hybrid iterative solver for robustly capturing Coulomb friction in hair dynamics
- DAVIET, BERTAILS-DESCOUBES, et al.
(Show Context)
Citation Context ...roup) with classical as well as innovative schemes for solving the problem of frictional contact (incorporating the most recent results of the group, as well as the new contact solver we published in =-=[8]-=-). The aim of this software is twofold: first, to compare and analyze the performance of nonsmooth schemes for the frictional contact problem, in terms of realism (capture of dry friction, typically),... |

11 | Projection methods for conic feasibility problems: applications to polynomial sum-of-squares decompositions - Henrion, Malick - 2011 |

11 | Voltage-stepping schemes for the simulation of spiking neural networks, in "Journal of Computational Neuroscience - ZHENG, TONNELIER, et al. |

9 | Finite-time average consensus based protocol for distributed estimation over AWGN channels
- Kibangou
- 2011
(Show Context)
Citation Context ...ntization, we have shown that the finite-time average consensus problem can be solved as a matrix factorization problem with joint diagonalizable matrices depending on the Graph Laplacian eigenvalues =-=[38]-=-, [48]. Moreover, the number of iterations is equal to the number of distinct nonzero eigenvalues of the graph Laplacian matrix. Then, by periodically restarting the consensus algorithm, we have also ... |

8 |
Higher order event capturing time–stepping schemes for nonsmooth multibody systems with unilateral constraints and impacts
- Acary
- 2012
(Show Context)
Citation Context ...o improve the global order of accuracy over periods when the evolution is sufficiently smooth by mixing standard higher order schemes for Differential Algebraic equations and the Moreau–Jean’s scheme =-=[16]-=-. We also proposed self-adapting schemes by applying time–discontinuous Galerkin methods to the measure differential equation in [24]. In order to satisfy in discrete time, the impact law and the cons... |

8 | Collaborative estimation of gradient direction by a formation of AUVs under communication constraints
- Briñón-Arranz, Seuret, et al.
- 2011
(Show Context)
Citation Context ...uipped with appropriate sensors as a mobile sensors network. In [28] and [29], we present a method which allows estimating the gradient of the signal propagation using a distributed consensus filters =-=[27]-=-. To do so, we consider a group of vehicles uniformly distributed in a fixed circular formation. We then show that this distributed consensus algorithm converges to good approximation of the gradient ... |

7 |
Projected event-capturing time-stepping schemes for nonsmooth mechanical systems with unilateral contact and Coulomb’s friction
- Acary
(Show Context)
Citation Context .... In order to satisfy in discrete time, the impact law and the constraints at the position and the velocity level, an adaptation of the well-known Gear–Gupta–Leimkuhler approach has been developed in =-=[17]-=-. Finally, the energetic behavior of the standard Moreau–Jean scheme has been addressed in [25] by developing a Newmark–type scheme for nonsmooth dynamics. 6.9. Dissipativity preserving methods Partic... |

7 |
Chattering-free digital slidingmode control with state observer and disturbance rejection,” Automatic Control
- Acary, Brogliato, et al.
- 2012
(Show Context)
Citation Context ...ties like simplcity of the parameters tuning, suppression of numerical chattering, reachability of the sliding surface after a finite number of steps, and disturbance attenuation by a factor h or h 2 =-=[18]-=-. In [23] we have provided a tutorial on similar types of systems like relay systems, and their relationships with other formalisms like complementarity systems, or switching dynamical systems. This f... |

7 |
Distributed averaging on digital erasure networks
- Carli, Como, et al.
- 2011
(Show Context)
Citation Context ... resources, the channel capacity limitations and the quality of the send/received information protocols. More informations about the main research directions of the team can be found in [1], [3],[2], =-=[4]-=- [5], [6], [7], [8], [9] and [10]. 6 Activity Report INRIA 2011 In short, the project is centered along the following 3 main axes: 1. Control under Communications Constraints. One well established top... |

7 | Mean square performance of consensus-based distributed estimation over regular geometric graphs
- Garin, Zampieri
- 2012
(Show Context)
Citation Context ...ns, i.e., the neighborhoods are determined by being ‘near’ in a geometric (Euclidean) way, differently from graphs with few but possibly ‘distant’ connections, such as in small world models. At first =-=[18]-=- we consider graphs which are regular lattices (infinite lattices, or grids on tori, or grids on hyper-cubes), which are examples of geometrically local interactions, but also have a very rich structu... |

7 | Improved stability analysis of networked control systems under asynchronous sampling and input delay
- Jiang, Seuret
(Show Context)
Citation Context ...sis is provided for the cases of multiple sampling periods and packet losses in [21]. Moreover this method has also been extended to the case of sampled-data systems with additional input delay [42], =-=[46]-=- and to the case of impulsive systems (several papers are submitted on this topic, for example [65]). • Stability of control under weakened real-time constraints Participants: D. Simon [Contact person... |

6 | Nonsmooth Modeling and Simulation for Switched Circuits - Acary, Bonnefon, et al. - 2011 |

6 |
The U-Lagrangian of a convex function, in "Trans
- LEMARÉCHAL, OUSTRY, et al.
(Show Context)
Citation Context ... more sophisticated algorithms. This implies an appropriate generalization of second derivatives when the first derivative does not exist, and we use advanced tools of nonsmooth analysis, for example =-=[13]-=-. 4. Application Domains 4.1. Introduction Many systems (either actual or abstract) can be represented by (1). Some typical examples are: • • • Mechanical systems with unilateral constraints and dry f... |

6 |
Timestepping schemes for nonsmooth dynamics based on discontinuous galerkin methods: Definition and outlook
- Schindler, Acary
- 2012
(Show Context)
Citation Context ... for Differential Algebraic equations and the Moreau–Jean’s scheme [16]. We also proposed self-adapting schemes by applying time–discontinuous Galerkin methods to the measure differential equation in =-=[24]-=-. In order to satisfy in discrete time, the impact law and the constraints at the position and the velocity level, an adaptation of the well-known Gear–Gupta–Leimkuhler approach has been developed in ... |

6 | Improved semidefinite bounding procedure for solving max-cut problems to optimality
- Krislock, Malick, et al.
- 2013
(Show Context)
Citation Context ...ems, and graph bisection problems). We have embedded the new bounds within branch-and-bound algorithms to solve 2 standard combinatorial optimization problems to optimality. • • Max-cut. We developed =-=[34]-=- an improved bounding procedure obtained by reducing two key parameters (the target level of accuracy and the stopping tolerance of the inner Quasi-Newton engine) to zero, and iteratively adding trian... |

6 | Nonlinear system modeling and identification using Volterra-PARAFAC models, Int - Favier, Kibangou, et al. - 2012 |

5 |
Shock dynamics in granular chains: numerical simulations and comparison with experimental tests
- Nguyen, Brogliato
- 2012
(Show Context)
Citation Context ...ion laws based on the use of the kinetic energy metric. We also performed an analysis of the rocking block motion in terms of the kinetic angles between the two unilateral constraints. Results are in =-=[21]-=-, [22] [55]. Another work is dedicated to analysing the influence of bilateral holonomic constraints on the well-posedness of the complementarity problem obtained from the (frictionless) unilateral co... |

5 |
A Newmark-Type Integrator for Flexible Systems Considering Nonsmooth Unilateral Constraints
- Chen, Acary, et al.
- 2012
(Show Context)
Citation Context ...the velocity level, an adaptation of the well-known Gear–Gupta–Leimkuhler approach has been developed in [17]. Finally, the energetic behavior of the standard Moreau–Jean scheme has been addressed in =-=[25]-=- by developing a Newmark–type scheme for nonsmooth dynamics. 6.9. Dissipativity preserving methods Participants: Vincent Acary, Bernard Brogliato. This work concerns the analysis of so-called theta-me... |

5 |
stability and invariance results for a class of multivalued Lur’e dynamical systems
- Well-posedness
- 2011
(Show Context)
Citation Context ...ations in complementarity dynamical systems, relay systems, mechanical systems with dry friction, electrical circuits, etc.Our works in this field started in [40]. The results in [42] extend those in =-=[41]-=- with an accurate characterization of the maximal monotonicity of the central operator of these systems. Concrete and verifiable criteria are provided for the above classes (complementarity, relay sys... |

5 | On the bridge between combinatorial optimization and nonlinear optimization: a family of semidefinite bounds leading to newton-like methods
- Malick, Roupin
- 2010
(Show Context)
Citation Context ...th a “good” balance between tightness and computing times.8 Activity Report INRIA 2012 We proposed a new family of semidefinite bounds for 0-1 quadratic problems with linear or quadratic constraints =-=[50]-=-. The paradigm is to trade computing time for a (small) deterioration of the quality of the usual semidefinite bounds, in view of enhancing this efficiency in exact resolution schemes. Extensive numer... |

5 |
Energy-aware and entropy coding for Networked Controlled Linear Systems
- WIT, JAGLIN
- 2009
(Show Context)
Citation Context ...computing resources, the channel capacity limitations and the quality of the send/received information protocols. More informations about the main research directions of the team can be found in [1], =-=[3]-=-,[2], [4] [5], [6], [7], [8], [9] and [10]. 6 Activity Report INRIA 2011 In short, the project is centered along the following 3 main axes: 1. Control under Communications Constraints. One well establ... |

5 |
Elastic formation control based on affine transformations
- Briñón-Arranz, Seuret, et al.
- 2011
(Show Context)
Citation Context ... source of some signal using a fleet of autonomous underwater vehicles. The objective is here to use the underwater vehicles equipped with appropriate sensors as a mobile sensors network. In [28] and =-=[29]-=-, we present a method which allows estimating the gradient of the signal propagation using a distributed consensus filters [27]. To do so, we consider a group of vehicles uniformly distributed in a fi... |

5 | A hierarchical varying sampling H∞ control of an auv
- Roche, Sename, et al.
- 2011
(Show Context)
Citation Context ...ystem’s response [82]. In the framework of the FeedNetBack IST project, the LFR formulation previously presented is applied to an Autonomous Underwater Vehicle (AUV) for the control of its altitude z =-=[40]-=-. The global control structure is presented on Fig. 8. To control the altitude, two controllers are considered (K̂z(δ) and K̂θ(δ, ρ)) based on two models (Ĝz(δ) and Ĝθ(δ, ρ)). The LFR formulation is... |

4 | Projection methods in conic optimization - Henrion, Malick - 2012 |

4 | Delta-Modulation Coding Redesign for FeedbackControlled Systems
- WIT, GOMEZ-ESTERN, et al.
(Show Context)
Citation Context ...uting resources, the channel capacity limitations and the quality of the send/received information protocols. More informations about the main research directions of the team can be found in [1], [3],=-=[2]-=-, [4] [5], [6], [7], [8], [9] and [10]. 6 Activity Report INRIA 2011 In short, the project is centered along the following 3 main axes: 1. Control under Communications Constraints. One well establishe... |

4 |
Dry Clutch Control for Automotive Applications
- DOLCINI, WIT, et al.
(Show Context)
Citation Context ...ources, the channel capacity limitations and the quality of the send/received information protocols. More informations about the main research directions of the team can be found in [1], [3],[2], [4] =-=[5]-=-, [6], [7], [8], [9] and [10]. 6 Activity Report INRIA 2011 In short, the project is centered along the following 3 main axes: 1. Control under Communications Constraints. One well established topic a... |

4 |
Tensor analysis for model structure determination and parameter estimation of block-oriented nonlinear systems
- KIBANGOU, FAVIER
(Show Context)
Citation Context ...s, the channel capacity limitations and the quality of the send/received information protocols. More informations about the main research directions of the team can be found in [1], [3],[2], [4] [5], =-=[6]-=-, [7], [8], [9] and [10]. 6 Activity Report INRIA 2011 In short, the project is centered along the following 3 main axes: 1. Control under Communications Constraints. One well established topic along ... |

4 |
Event-based sampling algorithms based on a lyapunov function
- Seuret, Prieur
- 2011
(Show Context)
Citation Context ...capacity limitations and the quality of the send/received information protocols. More informations about the main research directions of the team can be found in [1], [3],[2], [4] [5], [6], [7], [8], =-=[9]-=- and [10]. 6 Activity Report INRIA 2011 In short, the project is centered along the following 3 main axes: 1. Control under Communications Constraints. One well established topic along this axis conce... |

4 | Experience with ConSer: A System for Server Control Through Fluid Modeling
- MALRAIT, BOUCHENAK, et al.
(Show Context)
Citation Context ...ey problem in this area. This problem is also known as a scheduling control. The resource allocations are decided by the controller that try to regulate the total computation load to a prefixed value =-=[20]-=-. Here, the system to be regulated is the process that generates and uses the resources, and not any physical system. Hence, internal Project-Team NECS 5 states are computational tasks, the control si... |

4 | Automatic generation of discrete handlers of real-time continuous control tasks
- Aboubekr, Delaval, et al.
(Show Context)
Citation Context ...uous control tasks has been carried on. In this architecture ORCCAD is used to design the low level continuous controllers while the reactive parts are designed and synthesized using the BZR language =-=[23]-=-. Project-Team NECS 15 Figure 6. Hardware-in-the-loop. • Event-based control algorithms Participants: A. Seuret [Contact person], N. Marchand [Contact person], S. Durand. Asynchronicity is becoming mo... |

4 |
Robust control under weakened real-time constraints
- Andrianiaina, Seuret, et al.
- 2011
(Show Context)
Citation Context ... aircraft pitch controller, which show that the stability of the plant can be kept (and even improved) using the new scheduling schemes using less computing resources than traditional implementations =-=[24]-=-, [63]. 6.3.2. Control for asynchronous sampled data systems • Control architecture and tools Participants: D. Simon [Contact person], R. Pissard [SED], S. Arias [SED]. During the development of contr... |

4 | Hardware-in-the-loop test-bed of an Unmanned Aerial Vehicle using Orccad
- Simon
(Show Context)
Citation Context ...ave been set up. These simulators combine multithreaded/multi-rate real-time controllers running control algorithms synchronized with a variable step numerical integrator running a model of the plant =-=[49]-=-. These simulators have been further used to implement and test several kind of feedback/flexible scheduling schemes related to the FeedNetBack project, in particular real-time controllers subject to ... |

3 |
Stabilization of the capture point dynamics for bipedal walking based on model predictive control
- Krause, Englsberger, et al.
(Show Context)
Citation Context ...ond-order dynamics of the Center of Mass x of the robot into a cascade of two first-order dynamics, one stable and one unstable. This MPC scheme has been evaluated successfully on the DLR biped robot =-=[49]-=-. Since fast computations are always a key objective for feedback controllers, we designed a change of variable in the underlying QP in order to expose the specific structure between time-varying and ... |

3 |
Screening of chemicals for human bioaccumulation potential with a physiologically based toxicokinetic model. Archives of Toxicology
- Tonnelier, Coecke, et al.
- 2011
(Show Context)
Citation Context ...nt element in risk assessment of chemicals is the human bioaccumulative potential. We developed a predictive tool for human bioaccumulation assesment using a physiologically based toxicokinetic model =-=[53]-=-. 6.6. Computational Biology Participant: Biological oscillations have attracted widespread interest from experimentalists, with the in vivo design of synthetic oscillators, and from mathematicians, w... |

3 | Stability criteria for asynchronous sampleddata systems - a fragmentation approach
- Briat, Seuret
- 2011
(Show Context)
Citation Context ...ng exponential. This method suggests the introduction of particular types of functionals of several shapes: using an adaptation of classical time-delay functionals [21]; using a discretization method =-=[26]-=-; or using SOS [44]. Then extensions to uncertain systems, time-varying parameter systems [21]; or non linear systems (for instance with saturations [36], [43]) become straightforward in comparison to... |

3 |
A new mathematical model for car drivers with spatial preview
- Jiang, Wit, et al.
- 2011
(Show Context)
Citation Context ...control Participants: C. Canudas de Wit [Contact person], W. Jiang, J. Dumon, O. Sename. A mathematical driver model in the spatial equation form has been introduced for analysis of drivers’ behavior =-=[31]-=-. In the model, a previewed distance is taken into account. First, optimal control is applied. For the ideal case without driver’s reaction delay concerned, for both long distance preview and shorter ... |

3 |
Fully Discrete Control Scheme of the Energy-Performance Tradeoff
- DURAND, MARCHAND
(Show Context)
Citation Context ...he computing activity and the energy consumption using the voltage and the frequency according to the requirements of the operating system. In this way, a robust control law was developed in [72] and =-=[32]-=- in order to minimize the high voltage running time with a predictive technique, i.e. to minimize the energy consumption while ensuring good computational performance. This control was initially done ... |

3 |
Asyncar, a radio-controlled vehicle for asynchronous experiments implementation of an event-based cruise control
- Durand, Minet, et al.
(Show Context)
Citation Context ...ng condition is no more consistent in the context of event-based systems. Moreover, a practical implementation of a cruise control mechanism on a small radio-controlled vehicle was recently suggested =-=[34]-=-. Moreover, we are interested on updating the control signal only when required from a stability point of view. Such a solution consists for instance in enforcing an event when a Lyapunov function cro... |

3 |
Highway traffic model-based density estimation
- Morarescu, Wit
- 2011
(Show Context)
Citation Context ...ictly cooperates with the ramp metering. The computational algorithm for the input flows in case of free balance is proposed. In order to illustrate the results, the numerical example is provided. In =-=[39]-=-, the authors are interested to the highway traffic model-based density estimation. A strategy is proposed for real-time density estimation for traffic networks. To this aim, we introduced a determini... |

3 | Exponential stabilization of a class of nonlinear neutral type time-delay systems, an oilwell drilling model example
- Saldivar, Seuret, et al.
- 2011
(Show Context)
Citation Context ... analysis is provided for the cases of multiple sampling periods and packet losses in [21]. Moreover this method has also been extended to the case of sampled-data systems with additional input delay =-=[42]-=-, [46] and to the case of impulsive systems (several papers are submitted on this topic, for example [65]). • Stability of control under weakened real-time constraints Participants: D. Simon [Contact ... |

3 |
SOS for sampled-data systems
- Seuret, Peet
- 2011
(Show Context)
Citation Context ...s method suggests the introduction of particular types of functionals of several shapes: using an adaptation of classical time-delay functionals [21]; using a discretization method [26]; or using SOS =-=[44]-=-. Then extensions to uncertain systems, time-varying parameter systems [21]; or non linear systems (for instance with saturations [36], [43]) become straightforward in comparison to the discrete-time ... |

2 | Propagation of spike sequences in neural networks - TONNELIER |

2 |
Inertial couplings between unilateral and bilateral holonomic constraints in frictionless Lagrangian systems, in "Multibody System Dynamics
- BROGLIATO
- 2013
(Show Context)
Citation Context ... bilateral holonomic constraints on the well-posedness of the complementarity problem obtained from the (frictionless) unilateral constraints. Gauss’ principle extension to this case is also analysed =-=[20]-=-. 6.2. Discrete-time sliding mode control Participants: Vincent Acary, Bernard Brogliato, Olivier Huber, Bin Wang. This topic concerns the study of time-discretized sliding-mode controllers. Inspired ... |

2 | Time-stepping via complementarity, in "Dynamics and Control of Switched Electronic Systems - ACARY - 2012 |

2 |
Prices stabilization for inexact unit-commitment problems
- ZAOURAR, MALICK
(Show Context)
Citation Context ... unstable behaviour, that could prevent their use as price indicator. We propose a simple and controllable way to stabilize the dual optimal solutions, by penalizing the total variation of the prices =-=[36]-=-. Our illustrations on the daily electricity production optimization of EDF show a strinking stabilization at a negligible cost. 6.4. Robotics 6.4.1. Hierarchic QP solver Participants: Pierre-Brice Wi... |

2 |
Predicting multiple step placements for human balance recovery tasks
- Aftab, Robert, et al.
- 2012
(Show Context)
Citation Context ...ankle and hip strategies as well as stepping with adaptive step locations and timings [37]. This MPC scheme has been validated against a balance recovery scenario found in the biomechanics literature =-=[38]-=-. 6.4.3. Model Predictive Control for Biped Walking Participants: Pierre-Brice Wieber, Andrei Herdt, Jory Lafaye. In collaboration with the DLR in Munich, we designed an MPC scheme for biped walking b... |

2 |
Existence, uniqueness of solutions and stability of nonsmooth multivalued Lur’e dynamical systems, in "Journal of Convex Analysis
- BROGLIATO, GOELEVEN
(Show Context)
Citation Context ... systems, with applications in complementarity dynamical systems, relay systems, mechanical systems with dry friction, electrical circuits, etc.Our works in this field started in [40]. The results in =-=[42]-=- extend those in [41] with an accurate characterization of the maximal monotonicity of the central operator of these systems. Concrete and verifiable criteria are provided for the above classes (compl... |

2 |
On preserving dissipativity properties of linear complementarity dynamical systems with the θ-method, in "Numerische Mathematik
- GREENHALGH, ACARY, et al.
- 2013
(Show Context)
Citation Context ...r disspativity preservation after the time-discretization are derived (preservation of the stioarge function, the supply rate and the dissipation function). The possible state jumps are also analyzed =-=[46]-=-. It is shown that excepted when the system is state lossless and theta = 0.5, the conditions are very stringent. 6.9.1. Multivalued Lur’e dynamical systems Participant: Bernard Brogliato.Project-Tea... |

2 | F.: Solving k-cluster problems to optimality with semidefinite programming
- Malick, Roupin
- 2011
(Show Context)
Citation Context ...ely analyzed its theoretical convergence properties. We show that our method outperform the state-of-the-art solver ( [52]) on the large test-problems. Heaviest k-subgraph problems. Our previous work =-=[51]-=- takes advantage of the new bounds in their basic form to prune very well in the search tree. Its performances are then comparable with the best method (based on convex quadratic relaxation using CPLE... |

2 |
Study of the planar rocking-block dynamics with Coulomb friction: Critical kinetic angles, in "ASME
- ZHANG, BROGLIATO, et al.
(Show Context)
Citation Context ...sed on the use of the kinetic energy metric. We also performed an analysis of the rocking block motion in terms of the kinetic angles between the two unilateral constraints. Results are in [21], [22] =-=[55]-=-. Another work is dedicated to analysing the influence of bilateral holonomic constraints on the well-posedness of the complementarity problem obtained from the (frictionless) unilateral constraints. ... |

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Commande à échantillonnage variable pour les systèmes LPV : application à un sous-marin autonome
- ROCHE
(Show Context)
Citation Context ...the design of a gain scheduled LFT controller w.r.t the sampling interval and w.r.t system’s parameters, given a discrete-time Linear Fractional Representation (LFR) of the LPV varying sampling model =-=[13]-=-. The approach comes from the robust control theory and consists in separating the LTI part P (not depending on the set of parameters) from the varying part ∆ (parameters or uncertainties), as shown o... |

2 | The performance of serial turbo codes does not concentrate - GARIN, COMO, et al. |

2 | Best-effort Highway Traffic Congestion Control via Variable Speed Limits
- WIT
- 2011
(Show Context)
Citation Context ...ward observers. We pointed out that during unobservable modes the estimation error is preserved due to vehicle conservation law. Numerical simulations show the efficiency of the proposed strategy. In =-=[30]-=-, the problem of front congestions control is treated. For this, we have introduced a new traffic lumped model with only two cells (one free, and another congested) the cells have variable length, and... |

2 | Simple Lyapunov Sampling for Event-Driven Control
- Durand, Marchand, et al.
- 2011
(Show Context)
Citation Context ...ch a solution consists for instance in enforcing an event when a Lyapunov function crosses a given level. Based on the seminal work from M. Velasco in [90], we suggested a simple Lyapunov sampling in =-=[33]-=-. • Control with adaptive sampling Participants: D. Simon [Contact person], O. Sename, E. Roche. Control and real-time computing have been associated for a long time, for the control of industrial pla... |

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Improved consensus algorithms using memory effects
- Campos, Seuret
(Show Context)
Citation Context ... to say that using past values of the state a reduction of performances or to instability. However, our contributions show that this is not always in single and double integrator consensus algorithms =-=[41]-=-. These contributions is based on an LMI framework and based on algebraic communication matrix structure. The efficiency of the method is tested for different network communication schemes. 6.2.4. Dis... |

2 |
Networwed control: taking into account sample period variations and actuator saturation
- Seuret, Jr, et al.
- 2011
(Show Context)
Citation Context ...nals [21]; using a discretization method [26]; or using SOS [44]. Then extensions to uncertain systems, time-varying parameter systems [21]; or non linear systems (for instance with saturations [36], =-=[43]-=-) become straightforward in comparison to the discrete-time approaches. The stability conditions are expressed in terms of linear matrix inequalities. Sufficient conditions for asymptotic and exponent... |

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Super-Clothoids, in "Computer Graphics Forum
- BERTAILS-DESCOUBES
- 2012
(Show Context)
Citation Context ...ree d ≥ 1. The main difficulty compared to the super-helix model (where d = 0) is that the kinematics has no longer a closed form. Last year we investigated the clothoidal case (d = 1) in the 2d case =-=[19]-=-, relying on Romberg numerical integration. This year, in R. Casati’s PhD’s thesis, we extended this result to the full 3D case. The key idea was to integrate the rod’s kinematics using power series e... |

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Analysis of a generalized kinematic impact law for multibodymulticontact systems, with application to the planar rocking block and chains of balls, in "Multibody System Dynamics", 2012, vol. 27, n o 3, p. 351-382 [DOI
- BROGLIATO, ZHANG, et al.
(Show Context)
Citation Context ...ws based on the use of the kinetic energy metric. We also performed an analysis of the rocking block motion in terms of the kinetic angles between the two unilateral constraints. Results are in [21], =-=[22]-=- [55]. Another work is dedicated to analysing the influence of bilateral holonomic constraints on the well-posedness of the complementarity problem obtained from the (frictionless) unilateral constrai... |

1 |
relay and complementarity systems: a tutorial on their well-posedness and relationships
- Switching
(Show Context)
Citation Context ... simplcity of the parameters tuning, suppression of numerical chattering, reachability of the sliding surface after a finite number of steps, and disturbance attenuation by a factor h or h 2 [18]. In =-=[23]-=- we have provided a tutorial on similar types of systems like relay systems, and their relationships with other formalisms like complementarity systems, or switching dynamical systems. This follows in... |

1 | Application of timestepping schemes based on time discontinuous Galerkin methods to multi-dimensional examples, in "Euromech 514 - New trends in Contact Mechanics - SCHINDLER, ACARY |

1 | Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction - BROGLIATO - 2012 |

1 | Improved semidefinite branch-and-bound algorithm for k-cluster
- KRISLOCK, MALICK, et al.
- 2012
(Show Context)
Citation Context ...are then comparable with the best method (based on convex quadratic relaxation using CPLEX as an engine). Adapting and incorporating the tehniques we developped for the max-cut problem, we propose in =-=[35]-=- an big improveement of the first algorithm (up to 10 times faster). For the first time, we were able to solve exactly k-cluster instances of size 160. In practice, our method works particularly fine ... |

1 |
Ankle, hip and stepping strategies for humanoid balance recovery with a single Model Predictive Control scheme
- AFTAB, ROBERT, et al.
(Show Context)
Citation Context ...ransports. A Model Predictive Control scheme has been developed for the prediction of recovery motions, including ankle and hip strategies as well as stepping with adaptive step locations and timings =-=[37]-=-. This MPC scheme has been validated against a balance recovery scenario found in the biomechanics literature [38]. 6.4.3. Model Predictive Control for Biped Walking Participants: Pierre-Brice Wieber,... |

1 | Hierarchical Quadratic Programming Part 1: Fundamental Bases
- ESCANDE, MANSARD, et al.
- 2013
(Show Context)
Citation Context ...mputations in the case of time-varying Hierarchic QPs through warm-starting the active set method. This has been possible by developing an active set method for lexicographic multi-objective ordering =-=[44]-=-, [45]. The main difference with respect to classical active set methods is in the use of a “lexicographic” (sometimes called “multi-dimensional”) Lagrange multiplier. 6.4.2. Modeling of human balance... |

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Hierarchical Quadratic Programming Part 2: Implementation and Experimentations
- ESCANDE, MANSARD, et al.
- 2013
(Show Context)
Citation Context ...ions in the case of time-varying Hierarchic QPs through warm-starting the active set method. This has been possible by developing an active set method for lexicographic multi-objective ordering [44], =-=[45]-=-. The main difference with respect to classical active set methods is in the use of a “lexicographic” (sometimes called “multi-dimensional”) Lagrange multiplier. 6.4.2. Modeling of human balance in pu... |

1 |
Negative feedback oscillators: What is the chance to function in an oscillatory regime
- TONNELIER
(Show Context)
Citation Context ...ein concentrations or gene expression are supposed to be involved in the generation of the rhythms observed in the cell. In many situations, oscillations are originated by negative feedback loops. In =-=[54]-=- we have studied the oscillatory regimes of a negative feedback oscillator and derived the probability of having oscillations. 6.7. Mechanical rods 6.7.1. High-order models of mechanical rods Particip... |

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Commande coopérative d’une flottille de véhicules sous-marins avec contraintes de communication, Institut National Polytechnique de Grenoble
- ARRANZ
- 2011
(Show Context)
Citation Context ...ional cost [12], Grenoble INP, 17/01/2011, co-advised by N. Marchand and D. Simon. – Lara Briñón-Arranz, Commande coopérative d’une flottille de véhicules sous-marins avec contraints de communication =-=[11]-=-, Grenoble INP, 18/11/2011, co-advised by C. Canudas de Wit and A. Seuret. 26 Activity Report INRIA 2011 – Emilie Roche, Commande à échantillonnage variable pour les systèmes LPV : application à un so... |

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Reduction of the energy consumption in embedded electronic devices with low control computational cost, Institut National Polytechnique de Grenoble
- DURAND
- 2011
(Show Context)
Citation Context ...sed by C. Canudas de Wit and P. Moulin (IFP Energies Nouvelles). PhD defended: – Sylvain Durand, Reduction of the energy consumption in embedded electronic devices with low control computational cost =-=[12]-=-, Grenoble INP, 17/01/2011, co-advised by N. Marchand and D. Simon. – Lara Briñón-Arranz, Commande coopérative d’une flottille de véhicules sous-marins avec contraints de communication [11], Grenoble ... |

1 | High Performance Control Design for Dynamic Voltage Scaling Devices, in "Circuits and Systems I: Regular Papers
- ALBEA, ÁLVAREZ, et al.
(Show Context)
Citation Context ...ners are CEA-Leti, TIMA laboratory and the SARDES and NECS teams at INRIA. Previous works on a high-performance controller development for a novel discrete DVS converter were done within this project =-=[14]-=-. 8.2. National Initiatives 8.2.1. ANR CONNECT CONNECT (CONtrol of NEtworked Cooperative sysTems) is a project funded by the ANR (National Research agency). The project deals with the problem of contr... |

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Adaptive Delta Modulation in Networked Controlled Systems With bounded Disturbances, in
- GOMEZ-ESTERN, WIT, et al.
(Show Context)
Citation Context ...ates the closed-loop properties of the differential coding scheme known as Delta Modulation when used in feedback loops within the context of linear systems controlled through a communication network =-=[19]-=-. We propose a new adaptive scheme with variable quantization step, by defining an adaptation law exclusively in terms of information available at both the transmitter and receiver. With this approach... |

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Distributed averaging on digital noisy networks
- CARLI, COMO, et al.
(Show Context)
Citation Context ...age consensus (i.e., state agreement on the average of the initial observations), and reducing the computational and communication complexities. This work is presented in the paper [15]. In the paper =-=[22]-=-, we present and analyze a modified algorithm, which can be used when source coding (compression) and channel coding (error correction) are performed by two separate encoders. Such algorithm takes int... |

1 | Towards a Weakly-Hard Approach for Real-Time Simulation
- KHALED, GAÏD, et al.
- 2011
(Show Context)
Citation Context ...he plant’s model into weakly synchronized sub-systems allows for efficiently using variable steps numerical integrators, simulation speed-ups and subsequent effective parallel versions of HIL systems =-=[25]-=-. 14 Activity Report INRIA 2011 6.3. Stability and control design of asynchronous interconnected systems 6.3.1. New approaches for stability conditions design • Stability for asynchronous sampled data... |

1 | An Integration Framework For Control/Communication/Computation (3C) Co-design With Application
- FARHADI, WIT
- 2011
(Show Context)
Citation Context ...f Melbourne]. We introduce here an integration framework for Control/Communication/Computation (3C) co-design based on the motivating example of fleet control of Autonomous Underwater Vehicles (AUVs) =-=[35]-=-, [75]. Specifically, we address the problem of almost sure stability of an unstable system with multiple observations over packet erasure channel, with emphasis on coding computational complexity. We... |

1 |
Static anti-windup synthesis for linear systems with time-varying input delays
- VIEIRA, SILVA, et al.
- 2011
(Show Context)
Citation Context ...unctionals [21]; using a discretization method [26]; or using SOS [44]. Then extensions to uncertain systems, time-varying parameter systems [21]; or non linear systems (for instance with saturations =-=[36]-=-, [43]) become straightforward in comparison to the discrete-time approaches. The stability conditions are expressed in terms of linear matrix inequalities. Sufficient conditions for asymptotic and ex... |

1 | Distributed Khatri-Rao Space-Time coding and decoding for cooperative networks
- KIBANGOU, ALMEIDA, et al.
- 2011
(Show Context)
Citation Context ...ve proposed a finite time average consensus approach that relies on the knowledge of the graph topology. The proposed algorithm and its performance evaluation by means of simulations are described in =-=[37]-=-. • Kalman filtering based distributed fault detection and isolation Participants: A. Kibangou [Contact person], F. Garin, S. Hachour, A. Esna Ashari. This year, we have started a research activity re... |

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Oscillation annealing and driver/tire load torque estimation in Electric Power Steering Systems
- TORDESILLAS, CIARLA, et al.
(Show Context)
Citation Context ...Wit [Contact person], V. Ciarla, J. Tordesillas Illàn [UJF]. This part presents several aspects of modeling, observation and control towards a new generation of Electrical Power Steering(EPS) systems =-=[47]-=-. In particular we design an optimal control to reject oscillations of the steering column, then we device a new observer to estimate the internal state variables of the steering column, the driver ap... |

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Estimation distribuée basée sur un consensus en temps fini, in "XXIIIème colloque GRETSI (GRETSI 2011
- KIBANGOU
- 2011
(Show Context)
Citation Context ...ion, we have shown that the finite-time average consensus problem can be solved as a matrix factorization problem with joint diagonalizable matrices depending on the Graph Laplacian eigenvalues [38], =-=[48]-=-. Moreover, the number of iterations is equal to the number of distinct nonzero eigenvalues of the graph Laplacian matrix. Then, by periodically restarting the consensus algorithm, we have also shown ... |

1 | Design methodologies for event-based control systems - CASTRO, GARIN, et al. |

1 | Control subject to transmission constraints, with transmission errors – D03.02, FeedNetBack IST project - GARIN, ZAMPIERI, et al. - 2011 |