A5110841364- Stability and Control of Uncertain Systems
- Control and Stability of Dynamical Systems
- Control Systems and Identification
- Advanced Control Systems Optimization
- Teleoperation and Haptic Systems
- Stability and Controllability of Differential Equations
- Dynamics and Control of Mechanical Systems
- Iterative Learning Control Systems
- Petri Nets in System Modeling
- Adaptive Control of Nonlinear Systems
- Control and Dynamics of Mobile Robots
- Differential Equations and Boundary Problems
- Prosthetics and Rehabilitation Robotics
- Semantic Web and Ontologies
- Motor Control and Adaptation
- Muscle activation and electromyography studies
- Robotic Mechanisms and Dynamics
- Robot Manipulation and Learning
- Air Traffic Management and Optimization
- Advanced Mathematical Modeling in Engineering
- Electric Motor Design and Analysis
- Fusion materials and technologies
- EEG and Brain-Computer Interfaces
- Modular Robots and Swarm Intelligence
- Soft Robotics and Applications
Laboratoire des Sciences de l'Ingénieur, de l'Informatique et de l'Imagerie
2016-2023
Université de Strasbourg
2019-2023
Centre National de la Recherche Scientifique
2012-2020
École Centrale de Lyon
2016
École des Mines de Douai
2016
Oxford Technologies (United Kingdom)
2015
École Centrale de Lille
2012-2014
Laboratoire d'Automatique, Génie Informatique et Signal
2012
Robots are more and often designed in order to perform tasks synergy with human operators. In this context, a current research focus for collaborative robotics lies the design of high-performance control solutions, which ensure security spite unmodeled external forces. The present work provides method based on Model Predictive Control (MPC) allow compliant behavior when interacting an environment, while respecting practical robotic constraints. study shows particular how define impedance...
In this paper, a new methodology is developed for safely changing the interaction dynamics of collaborative robot. A strategy based on electromyography proposed to distinguish operator forces from those resulting interactions with environment. This allows obtain information about intentions and include it into robot control an enhanced physical human–robot interaction. The safety variable impedance guaranteed by imposing passivity Experimental validation shows good performance method...
This paper is dedicated to the stability analysis of nonlinear sampled-data systems, which are affine in input. Assuming that a stabilizing continuous-time controller exists and it implemented digitally, we intend provide sufficient asymptotic/exponential conditions for system. allows find an estimate upper bound on asynchronous sampling periods. The problem formulated both globally locally. main idea address framework dissipativity theory. Furthermore, result particularized class polynomial...
This tutorial, presents basic concepts and recent research directions about sampled-data systems. We focus mainly on the stability of systems with time-varying sampling intervals. Without being exhaustive, which would be neither possible nor useful, we try to give a structural survey what think main results issues in this domain.
This note is dedicated to the stability analysis of bilinear sampled-data systems, controlled via a linear state feedback static controller. A zero order hold device used. Our purpose find constructive way calculate maximum allowable sampling period (MASP) that guarantees local system. The proposed conditions are formulated as matrix inequalities (LMI).
While impedance control is one of the most commonly used strategies for robot interaction control, variable a more recent preoccupation. If designing with varying parameters allows increasing system flexibility and dexterity, it still challenging issue, as may result in loss passivity system. This has an important impact on stability therefore safety interaction. In this paper, we propose methods to design filters that guarantee They aim at either checking whether desired profile passive, or...
In this work, we use recent developments in the field of adaptive robust Model Predictive Control (MPC) to build a controller for bilateral teleoperation systems. To guarantee constraint satisfaction, incorporate polytopic tube controllers MPC design. addition, online learning methods learn environment model. Namely, set membership parametric uncertainty bounds and reduce conservatism controller, combine it with least mean square method point estimate model parameters, which enhances...
In this paper, we present a novel identification approach to model the EMG-Force relationship of human arm, reduced single degree freedom (1-DoF) for simplicity. Specifically, exploit Linear Parameter Varying (LPV) framework. The inputs are electromyographic (EMG) signals acquired on two muscles upper biceps brachii and triceps brachii, forearm, brachioradialis flexor carpi radialis. output is force produced at hand actuating elbow. Because position-dependency system, elbow angle used as...
Thermal soaring gliders exploit naturally occurring rising air (called thermals) as sources of energy. These generally appear in uncertain and random way their position strength are hardly predictable. Several atmospheric factors affect the behavior thermals (season, time day nature vegetation on ground, etc). However, a statistical model to be encountered can build. Soaring optimal manner while taking advantage represents thus stochastic optimization problem that solved implemented an...
This paper presents the modeling and control of a flexible cable-driven parallel robot, taking into account flexibility cables. The model is obtained based on Lagrangian method assumed modes approach. Considering three cables, this has been formulated using differential-algebraic equations then transformed an ordinary differential representation. Based linearization ODE representation along center work-space, ${\mathcal{H}_\infty }$ controller guaranteeing disturbance rejection reference...