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Tracking Control of Docking Maneuvers for a Fully Actuated Surface Vessel Using Backstepping
Leticia Mayumi Kinjo;Tomas Ménard;Stefan Wirtensohn;Olivier Gehan;Johannes Reuter
In this brief, trajectory tracking for a fully actuated surface vessel while performing automated docking is addressed. Environmental disturbances, integral action, as well as physical actuator quantities are directly integrated into the approach, avoiding the need for additional control allocation. By employing a backstepping design, uniform local exponential stability is proven. The performance ...Show More
Backstepping Control of a Fully-actuated Surface Vessel for Tracking a Docking Maneuver
Leticia Mayumi Kinjo;Tomas Menard;Stefan Wirtensohn;Olivier Gehan;Johannes Reuter
2022 10th International Conference on Systems and Control (ICSC)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
The trajectory tracking problem for a fully-actuated real-scaled surface vessel is addressed in this paper by designing a backstepping controller with a multivariable integral action, considering the thruster allocation problem. The performance and robustness of this controller are evaluated in simulation, taking into account environmental disturbance forces and modeling mismatch, using a docking ...Show More
Observer design for range-only localization in three dimensions with three measurements and asynchronous and aperiodic measurements
Guillaume Landicheff;Tomas Menard;Olivier Gehan;Eric Pigeon;François Breynaert
2022 European Control Conference (ECC)
Year: 2022 | Conference Paper |
In this paper, a range based localization method is proposed for position estimation in three dimensions with only three measurements. The proposed scheme is based on a modification of the system to make it globally observable and a change of coordinates which allows to construct a continuous time observer. The obtained continuous time observer is further modified to be able to deal with aperiodic...Show More
Trajectory Tracking of a Fully-actuated Surface Vessel using Nonlinear Model Predictive Control: Experimental Results
Leticia Mayumi Kinjo;Stefan Wirtensohn;Johannes Reuter;Tomas Menard;Olivier Gehan
2022 30th Mediterranean Conference on Control and Automation (MED)
Year: 2022 | Conference Paper |
Cited by: Papers (7)
The trajectory tracking problem for a real-scaled fully-actuated surface vessel is addressed in this paper. A nonlinear model predictive control (NMPC) scheme was designed to track a reference trajectory, considering state and input constraints, and environmental disturbances, which were assumed to be constant over the prediction horizon. The controller was tested by performing docking maneuvers u...Show More
In this letter, a new observer is proposed for the state estimation of time-invariant systems with multiple outputs providing non periodic and asynchronous measurements. The state of the proposed hybrid observer is made up of two parts, the first one corresponding to the estimate which is continuous and the second one corresponding to a kind of output error predictor which is updated when new meas...Show More
Leader-following consensus of second-order multi-agent systems with switching topology and partial aperiodic sampled data
Syed Ali Ajwad;Emmanuel Moulay;Michael Defoort;Tomas Ménard;Patrick Coirault
2021 American Control Conference (ACC)
Year: 2021 | Conference Paper |
This article focuses on the problem of leader-following consensus of second-order Multi-Agent Systems (MAS) with switching topology and partial aperiodic sampled data. MAS are subject to various constraints related to information exchange among the agents. It is considered that each agent in the network is able to measure its position only and cannot measure either its velocity or acceleration (in...Show More
Collision-free formation tracking of multi-agent systems under communication constraints
Syed Ali Ajwad;Emmanuel Moulay;Michael Defoort;Tomas Ménard;Patrick Coirault
2021 American Control Conference (ACC)
Year: 2021 | Conference Paper |
This paper deals with the problem of collision-free formation tracking of second-order Multi-Agent Systems (MAS) under communication constraints. It is assumed that an agent can only transmit its position to its neighbors at asynchronous and aperiodic discrete time instants. Velocity and acceleration of the agents are not available. Moreover, the dynamics of the leader can be controlled through an...Show More
Leader-Following Consensus of Second-Order Multi-Agent Systems With Switching Topology and Partial Aperiodic Sampled Data
Syed A. Ajwad;Emmanuel Moulay;Michael Defoort;Tomas Ménard;Patrick Coirault
IEEE Control Systems Letters
Cited by: Papers (23)
This letter focuses on the problem of leader-following consensus of second-order Multi-Agent Systems (MAS) with switching topology and partial aperiodic sampled data. MAS are subject to various constraints related to information exchange among the agents. It is considered that each agent in the network is able to measure its position only and cannot measure either its velocity or acceleration (inp...Show More
Collision-Free Formation Tracking of Multi-Agent Systems Under Communication Constraints
Syed A. Ajwad;Emmanuel Moulay;Michael Defoort;Tomas Ménard;Patrick Coirault
IEEE Control Systems Letters
Cited by: Papers (30)
This letter deals with the problem of collision-free formation tracking of second-order Multi-Agent Systems (MAS) under communication constraints. It is assumed that an agent can only transmit its position to its neighbors at asynchronous and aperiodic discrete time instants. Velocity and acceleration of the agents are not available. Moreover, the dynamics of the leader can be controlled through a...Show More
Observer design for nonlinear systems with multi-rate sampled outputs - Application to attitude estimation
Tristan Bonargent;Tomas Ménard;Eric Pigeon;Mathieu Pouliquen;Olivier Gehan
The present paper proposes an observer for a class of nonlinear systems with multi-rate sampled outputs. Each output can have irregular and aperiodic sampling rate independent of the others. This work extends previous studies on high gain observer to permit the estimation of multi-rated output systems. The stability is proved by using a Lyapunov approach, providing that the sampling rates of each ...Show More
Identification for Switched FIR Linear Systems using Binary Measurements
Romain Auber;Mathieu Pouliquen;Abdelhak Goudjil;Eric Pigeon;Olivier Gehan;Tomas Menard;Pierre Alexandre Chapon;Sebastien Moussay;Tristan Bonargent
2019 IEEE 58th Conference on Decision and Control (CDC)
Year: 2019 | Conference Paper |
Cited by: Papers (1)
This paper addresses the identification problem of switched Finite Impulse Response (FIR) linear systems using binary measurements. This identification problem is currently not treated in the literature and we thus propose a solution here. To this end, a two steps algorithm is presented. The first step consists in pre-processing data, the second step consists in the implementation of an identifica...Show More
Output-feedback formation tracking of second-order multi-agent systems with asynchronous variable sampled data
Syed Ali Ajwad;Emmanuel Moulay;Michael Defoort;Tomas Ménard;Patrick Coirault
2019 IEEE 58th Conference on Decision and Control (CDC)
Year: 2019 | Conference Paper |
Cited by: Papers (5)
This paper deals with the problem of time-varying formation tracking for second-order multi-agent systems under directed topology, where the follower states form a desired formation while tracking the state of the leader. It is considered that each agent, including the leader, has second-order dynamics and can only transmit its position to its neighbors. The velocities and inputs are not exchanged...Show More
Observer and first-order low-pass filter based attitude estimation for rigid bodies subject to external acceleration
2019 IEEE 58th Conference on Decision and Control (CDC)
Year: 2019 | Conference Paper |
Cited by: Papers (2)
In this paper, we consider the problem of estimating the attitude of a rigid body who is subject to non-negligible external acceleration, based on the measurements provided by a classical IMU unit: gyroscope, accelerometer and magnometer. Two algorithms are proposed, based on the combination of a low-pass filter in the fixed inertial frame and an observer. The stability of the proposed schemes are...Show More
Multivariable MPC algorithm with separated prediction horizons: application to simultaneous control of tension and drawing speed in optical fiber manufacturing processes
Olivier Gehan;Johannes Reuter;Eric Pigeon;Mathieu Pouliquen;Tomas Menard;Boubekeur Targui
2018 European Control Conference (ECC)
Year: 2018 | Conference Paper |
This paper focuses on the multivariable control of a drawing tower process. The nature of the process together with the differences in measurement noise levels that affect the variables to be controlled motivated the development of a new MPC algorithm. An extension of a multivariable predictive control algorithm with separated prediction horizons is proposed. The obtained experimental results show...Show More
Identification of Quantifiers Related to Circadian Rhythm Variations
Tristan Bonargent;Eric Pigeon;Tristan Martin;Mathieu Pouliquen;Olivier Gehan;Tomas Menard;Mohammed M'saad
2018 UKACC 12th International Conference on Control (CONTROL)
Year: 2018 | Conference Paper |
Cited by: Papers (1)
The aim of this study is to propose quantifiers allowing to characterize the adaptation speed of the circadian rhythm of a living being based on temperature measurements. While the most commonly used model to represent circadian rhythm is the COSINOR model, it is not adapted to analyze changes. An extended COSINOR model is then proposed here in order to take into account temperature disturbances r...Show More
High gain observer design for a class of MIMO nonlinear systems triangular with respect to an order
2017 18th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)
Year: 2017 | Conference Paper |
Cited by: Papers (1)
In this paper, the design of a high-gain observer for a large class of MIMO nonlinear systems is considered. An order on the indices of the state variables is first introduced, which allows to characterize a large class of uniformly observable MIMO systems. This order is further used in order to design an observer whose underlying error exponentially converges toward zero. The approach is validate...Show More
Cascade predictors design for a class of nonlinear uncertain systems with delayed state — Application to bioreactor
M. Farza;O. Hernández-González;T. Ménard;M. M'Saad;C.-M. Astorga-Zaragoza
2016 17th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)
Year: 2016 | Conference Paper |
Cited by: Papers (2)
The present work proposes a cascade predictor for a class of uncertain nonlinear systems in the presence of uncertainties in the state equations. The delayed state is assumed to be available with an arbitrarily long delay and the underlying measurements are assumed to be corrupted by an additive bounded unknown function. The proposed predictor is constituted by a cascade of subsystems where each o...Show More
Recursive system identification algorithm using binary measurements
Mathieu Pouliquen;Tomas Menard;Eric Pigeon;Olivier Gehan;Abdelhak Goudjil
The work presented in this paper focuses on the recursive identification of finite impulse response (FIR) systems with binary valued measurements. The main difficulty with such an identification is the low resolution of the available data on the output. It is first shown that this low resolution can be sufficient for the identification of the system. Then, the identification problem is formally po...Show More
Identification of circadian rhythm
E. Pigeon;J. B. Fabin;M. Pouliquen;B. Mauvieux;O. Gehan;T. Menard;A. Goudjil;S. Moussay
2016 24th Mediterranean Conference on Control and Automation (MED)
Year: 2016 | Conference Paper |
We present an identification algorithm for determining the variables characterizing a circadian rhythm. This method is based on a recursive least square algorithm combined with an appropriate observer. It has the advantage of determining all the parameters of a time-varying circadian rhythm without requiring the knowledge of the period. A comparison study with respect to the Lomb & Scargle method ...Show More
High gain observer for a class of nonlinear systems with sampled measurements: Application to a Free-Piston Stirling Engine
O. Hernández;T. Ménard;M. Farza;C.-M. Astorga-Zaragoza;G.-V. Guerrero-Ramírez
2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)
Year: 2015 | Conference Paper |
Cited by: Papers (1)
The design of observer for a class of state affine nonlinear systems with discrete time measurements is considered in this paper. A high gain observer is constructed, based on a Lyapunov approach, which allow to obtain comprehensive and insightful conditions for the convergence. The algorithm is applied to a Free-Piston Stirling Engine and validated with simulations.Show More
High gain observer design for a class of MIMO non uniformly observable uncertain systems
2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)
Year: 2015 | Conference Paper |
Cited by: Papers (1)
A high gain observer is proposed for a class of MIMO non uniformly observable systems including uncertainties. The gain of the proposed observer is issued from the resolution of a Lyapunov differential equation and its tuning can be achieved through the choice of a single scalar parameter. The observer design is made under an appropriate set of conditions given in terms of appropriate excitation. ...Show More
Extended high gain observer design
2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)
Year: 2015 | Conference Paper |
Cited by: Papers (1)
In this paper, an Extended High Gain Observer (EHGO) design for some classes of nonlinear systems with global Lipschitz nonlinearities, is proposed. The design is first proposed for a class of systems where the nonlinearities are triangular with respect to the state. Then, it is extended to another class of systems involving some unknown parameters that need to be estimated together with the state...Show More
Adaptive high gain observers for a class of MIMO nonlinear systems
2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)
Year: 2015 | Conference Paper |
Cited by: Papers (1)
This paper deals with adaptive observers designs for some class of uniformly observable systems. Indeed, an adaptive observer is proposed for the on-line estimation of the state and the unknown parameters involved in the system dynamics as well as in the output expression. It is shown that the equations of the proposed observer can be derived using two approaches, namely the adaptive approach and ...Show More
Extended high gain observer design for state and parameter estimation
2015 4th International Conference on Systems and Control (ICSC)
Year: 2015 | Conference Paper |
Cited by: Papers (4)
This paper investigates the design of an extended high gain observer to estimate the state together with some unknown constant parameters for a class of nonlinear systems. We firstly consider the case where all the parameters are known. A high gain state observer is proposed and its exponential convergence is carried out under a well defined persistent excitation condition. Then, the case where so...Show More
Simple Cascade Observer for a Class of Nonlinear Systems With Long Output Delays
This note proposes a cascade observer for a class of nonlinear systems with global Lipschitz nonlinearities in the presence of delayed output measurements. The head of the cascade is a high gain observer while the remaining systems are state predictors providing an estimate of the actual state. The key feature of the proposed observer is the introduction of a matrix design parameter that allows to...Show More
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