2022 10th International Conference on Systems and Control (ICSC)
Active Queue Management (AQM) for mitigating Internet congestion has been addressed via various f... more Active Queue Management (AQM) for mitigating Internet congestion has been addressed via various feedback control syntheses, among which P, PI, and PID regulators are quite popular and often associated to a Smith predictor. Here, to better account for the many uncertainties, like the round trip time or the number of TCP sessions, the above controllers are replaced by an intelligent proportional controller associated to Model-Free Control (MFC) and by forecasting techniques derived from a new approach to time series. Several computer simulations via a well accepted linear modeling, where the delay is assumed to be constant, are presented and discussed.
Active Queue Management (AQM) for mitigating Internet congestion has been addressed via various f... more Active Queue Management (AQM) for mitigating Internet congestion has been addressed via various feedback control syntheses, especially P, PI, and PID regulators, by using a linear approximation where the "round trip time", i.e., the delay, is assumed to be constant. This constraint is lifted here by using a nonlinear modeling with a variable delay, introduced more than 20 years ago. This delay, intimately linked to the congestion phenomenon, may be viewed as a "flat output." All other system variables, especially the control variable, i.e., the packet loss ratio, are expressed as a function of the delay and its derivatives: they are frozen if the delay is kept constant. This flatness-like property, which demonstrates the mathematical discrepancy of the linear approximation adopted until today, yields also our control strategy in two steps: Firstly, designing an open-loop control, thanks to straightforward flatness-based control techniques, and secondly, closing the loop via Model-Free Control (MFC) in order to take into account severe model mismatches, like, here, the number of TCP sessions. Several convincing computer simulations, which are easily implementable, are presented and discussed.
EPJ manuscript No. (will be inserted by the editor) A new control strategy for shape memory alloy... more EPJ manuscript No. (will be inserted by the editor) A new control strategy for shape memory alloys actuators ⋆
ROMANSY 22 – Robot Design, Dynamics and Control, 2018
This paper presents a synthesis method for the Autonomous Underwater Vehicle (AUV) propulsion sys... more This paper presents a synthesis method for the Autonomous Underwater Vehicle (AUV) propulsion system based on the features of a trajectory to follow. This method is based on solid/fluid dynamics analysis of a AUV performing the trajectory following task and gives actuation requirements to achieve it properly. This actuation is then used to generate a propulsion system under the form of a Thrust Configuration Matrix (TCM) that is compatible with the desired trajectory. From this matrix the number of thrusters, their position and direction can then be extracted to synthesis a fitted propulsion system. Thus, the propulsion capabilities of the robot will match the trajectory characteristics and it will be able to follow it. The objective of this work is to provide an evaluation as well as a design method to produce a controllable AUV for a given task. A second use of such an analysis is to provide an evaluation process allowing to perform AUV task-based design. The method is developed for generic fixed-thrusters AUVs on any trajectory, and is applied to an existing 4-thrusters AUV for a seabed scanning flat trajectory. The method shows why the initial AUV propulsion does not match the task and what is the solution solving the issue.
Abstract The main goal of this paper is to propose some analytical or pseudo-analytical tools fac... more Abstract The main goal of this paper is to propose some analytical or pseudo-analytical tools facilitating the study and modeling of SMA helical spring-based actuators. Particular attention is paid to R-phase SMA helical spring-based actuators (i.e., springs made in NiTi and concerned by R-phase transformation phenomena). First, simplified models (i.e., based on beam theory framework) of R-phase SMA helical springs taking into account detwinning and assisted two-way memory effect are proposed and validated. Then, these models are used to determine the thermo-mechanical behavior of a linear bias-spring actuator. An actuator is built and used to validate the proposed models.
IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, 2016
This paper deals with a hybrid control scheme for two-phase interleaved boost converter devoted t... more This paper deals with a hybrid control scheme for two-phase interleaved boost converter devoted to renewable energy and automotive applications. The control requirements, resumed in low input current ripples, are formulated as an optimal limit cycle stabilization problem, and are solved using hybrid systems formalism. The closed-loop consists in associating each discrete mode to a clearly defined region of the state space, in such a way that the optimal limit cycle is stabilized asymptotically. Mathematical proofs are provided alongside simulations to illustrate the effectiveness and the robustness of the proposed controller, especially with the use of a fuel cell as an input source.
This paper is devoted to the development of a hybrid controller for a two-interleaved boost conve... more This paper is devoted to the development of a hybrid controller for a two-interleaved boost converter dedicated to renewable energy and automotive applications. The control requirements, resumed in fast transient and low input current ripple, are formulated as a problem of fast stabilization of a predefined optimal limit cycle, and solved using hybrid automaton formalism. In addition, a real time estimation of the load is developed using an algebraic approach for online adjustment of the hybrid controller. Mathematical proofs are provided with simulations to illustrate the effectiveness and the robustness of the proposed controller despite different disturbances. Furthermore, a fuel cell system supplying a resistive load through a two-interleaved boost converter is also highlighted.
2014 IEEE Conference on Norbert Wiener in the 21st Century (21CW), 2014
Cybernetics involves Control Theory and Control Practice. From its roots, Cybernetics has always ... more Cybernetics involves Control Theory and Control Practice. From its roots, Cybernetics has always been intimately to Control. The paper is devoted to the proof of an important theorem for the development of control: the closed loop stability of control laws that are calculated in the framework of modelfree control. Everyone knows the importance of control in the field of Cybernetics [1].
In this paper, a new real-time implementation of a non-linear controller multivariable for multim... more In this paper, a new real-time implementation of a non-linear controller multivariable for multimachine power systems is outlined. The experimental setup of this power system includes two dc motors and two syn-chronous machines interconnected. The power system is modeled using a new decentralized modeling approach. Some responses of the system when the load changes after a sudden fault are presented. It is also shown that the system still keeps transient stability for slightly more severe faults .
2015 Proceedings of the Conference on Control and its Applications, 2015
The control design of an artificial pancreas, a hot research topic in diabetology, is tackled via... more The control design of an artificial pancreas, a hot research topic in diabetology, is tackled via the newly introduced model-free control and its corresponding "intelligent" proportional controller, which were already quite successful in many concrete and diverse situations. It results in an insulin injection for type 1 diabetes which displays via constant references a good nocturnal/fasting response, but unfortunately a poor postprandial behavior due to long hyperglycemia. When a variable reference is introduced, that switches between a constant one, when glycemia is more or less normal or moderate, and an exponential decay reference path, when a high glycemia rate indicates a meal intake, the results in silico, which employ real clinical data, become excellent. We obtain a bolus-shaped insulin injection rate during postprandial phases. The hyperglycemic peaks are therefore lowered a lot.
nationale supérieure des ingénieurs desétudes des techniques d'armement Laboratoire brestois de m... more nationale supérieure des ingénieurs desétudes des techniques d'armement Laboratoire brestois de mécanique et des systèmes 2 rue François Verny,
IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)
Abstract This paper presents a variable speed constant frequency system (VSCF) for aircraft appli... more Abstract This paper presents a variable speed constant frequency system (VSCF) for aircraft applications. The system consists in a doubly fed induction generator (DFIG) connected to a stand-alone aircraft grid through its stator windings. It uses back-to-back PWM converters ...
2007 46th IEEE Conference on Decision and Control, 2007
ABSTRACT In this study we propose an estimator for detecting impacts during the evolution of line... more ABSTRACT In this study we propose an estimator for detecting impacts during the evolution of linear systems subject to unilateral constraint with only the measurement of the position (possibly corrupted by noise). The detection scheme is based on fast algebraic estimator methods. This work provides an estimator, which is independent to the knowledge of the constraint position. Some simulation results are given in the presence of noise.
ABSTRACT The trajectory aspect of flatness is considered in this article from a feedforward point... more ABSTRACT The trajectory aspect of flatness is considered in this article from a feedforward point of view. This leads to the introduction of the notion of exact feedforward linearisation based on differential flatness.
Cette Note expose des conditions de rang necessaires et suffisantes pour le rejet dynamique de pe... more Cette Note expose des conditions de rang necessaires et suffisantes pour le rejet dynamique de perturbations et confirme l'importance du bouclage quasi-statique d'etat. Une unification du sujet est esquissee
Le language algebrique des filtrations fournit une transcription elegante des principales proprie... more Le language algebrique des filtrations fournit une transcription elegante des principales proprietes de l'algorithme de structure, dont on connait l'importance pour l'inversion entree-sortie. On en deduit le decouplage d'un systeme inversible a droite par un bouclage d'etat quasi-statique, qui n'exige integration d'equations differentielles
2022 10th International Conference on Systems and Control (ICSC)
Active Queue Management (AQM) for mitigating Internet congestion has been addressed via various f... more Active Queue Management (AQM) for mitigating Internet congestion has been addressed via various feedback control syntheses, among which P, PI, and PID regulators are quite popular and often associated to a Smith predictor. Here, to better account for the many uncertainties, like the round trip time or the number of TCP sessions, the above controllers are replaced by an intelligent proportional controller associated to Model-Free Control (MFC) and by forecasting techniques derived from a new approach to time series. Several computer simulations via a well accepted linear modeling, where the delay is assumed to be constant, are presented and discussed.
Active Queue Management (AQM) for mitigating Internet congestion has been addressed via various f... more Active Queue Management (AQM) for mitigating Internet congestion has been addressed via various feedback control syntheses, especially P, PI, and PID regulators, by using a linear approximation where the "round trip time", i.e., the delay, is assumed to be constant. This constraint is lifted here by using a nonlinear modeling with a variable delay, introduced more than 20 years ago. This delay, intimately linked to the congestion phenomenon, may be viewed as a "flat output." All other system variables, especially the control variable, i.e., the packet loss ratio, are expressed as a function of the delay and its derivatives: they are frozen if the delay is kept constant. This flatness-like property, which demonstrates the mathematical discrepancy of the linear approximation adopted until today, yields also our control strategy in two steps: Firstly, designing an open-loop control, thanks to straightforward flatness-based control techniques, and secondly, closing the loop via Model-Free Control (MFC) in order to take into account severe model mismatches, like, here, the number of TCP sessions. Several convincing computer simulations, which are easily implementable, are presented and discussed.
EPJ manuscript No. (will be inserted by the editor) A new control strategy for shape memory alloy... more EPJ manuscript No. (will be inserted by the editor) A new control strategy for shape memory alloys actuators ⋆
ROMANSY 22 – Robot Design, Dynamics and Control, 2018
This paper presents a synthesis method for the Autonomous Underwater Vehicle (AUV) propulsion sys... more This paper presents a synthesis method for the Autonomous Underwater Vehicle (AUV) propulsion system based on the features of a trajectory to follow. This method is based on solid/fluid dynamics analysis of a AUV performing the trajectory following task and gives actuation requirements to achieve it properly. This actuation is then used to generate a propulsion system under the form of a Thrust Configuration Matrix (TCM) that is compatible with the desired trajectory. From this matrix the number of thrusters, their position and direction can then be extracted to synthesis a fitted propulsion system. Thus, the propulsion capabilities of the robot will match the trajectory characteristics and it will be able to follow it. The objective of this work is to provide an evaluation as well as a design method to produce a controllable AUV for a given task. A second use of such an analysis is to provide an evaluation process allowing to perform AUV task-based design. The method is developed for generic fixed-thrusters AUVs on any trajectory, and is applied to an existing 4-thrusters AUV for a seabed scanning flat trajectory. The method shows why the initial AUV propulsion does not match the task and what is the solution solving the issue.
Abstract The main goal of this paper is to propose some analytical or pseudo-analytical tools fac... more Abstract The main goal of this paper is to propose some analytical or pseudo-analytical tools facilitating the study and modeling of SMA helical spring-based actuators. Particular attention is paid to R-phase SMA helical spring-based actuators (i.e., springs made in NiTi and concerned by R-phase transformation phenomena). First, simplified models (i.e., based on beam theory framework) of R-phase SMA helical springs taking into account detwinning and assisted two-way memory effect are proposed and validated. Then, these models are used to determine the thermo-mechanical behavior of a linear bias-spring actuator. An actuator is built and used to validate the proposed models.
IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, 2016
This paper deals with a hybrid control scheme for two-phase interleaved boost converter devoted t... more This paper deals with a hybrid control scheme for two-phase interleaved boost converter devoted to renewable energy and automotive applications. The control requirements, resumed in low input current ripples, are formulated as an optimal limit cycle stabilization problem, and are solved using hybrid systems formalism. The closed-loop consists in associating each discrete mode to a clearly defined region of the state space, in such a way that the optimal limit cycle is stabilized asymptotically. Mathematical proofs are provided alongside simulations to illustrate the effectiveness and the robustness of the proposed controller, especially with the use of a fuel cell as an input source.
This paper is devoted to the development of a hybrid controller for a two-interleaved boost conve... more This paper is devoted to the development of a hybrid controller for a two-interleaved boost converter dedicated to renewable energy and automotive applications. The control requirements, resumed in fast transient and low input current ripple, are formulated as a problem of fast stabilization of a predefined optimal limit cycle, and solved using hybrid automaton formalism. In addition, a real time estimation of the load is developed using an algebraic approach for online adjustment of the hybrid controller. Mathematical proofs are provided with simulations to illustrate the effectiveness and the robustness of the proposed controller despite different disturbances. Furthermore, a fuel cell system supplying a resistive load through a two-interleaved boost converter is also highlighted.
2014 IEEE Conference on Norbert Wiener in the 21st Century (21CW), 2014
Cybernetics involves Control Theory and Control Practice. From its roots, Cybernetics has always ... more Cybernetics involves Control Theory and Control Practice. From its roots, Cybernetics has always been intimately to Control. The paper is devoted to the proof of an important theorem for the development of control: the closed loop stability of control laws that are calculated in the framework of modelfree control. Everyone knows the importance of control in the field of Cybernetics [1].
In this paper, a new real-time implementation of a non-linear controller multivariable for multim... more In this paper, a new real-time implementation of a non-linear controller multivariable for multimachine power systems is outlined. The experimental setup of this power system includes two dc motors and two syn-chronous machines interconnected. The power system is modeled using a new decentralized modeling approach. Some responses of the system when the load changes after a sudden fault are presented. It is also shown that the system still keeps transient stability for slightly more severe faults .
2015 Proceedings of the Conference on Control and its Applications, 2015
The control design of an artificial pancreas, a hot research topic in diabetology, is tackled via... more The control design of an artificial pancreas, a hot research topic in diabetology, is tackled via the newly introduced model-free control and its corresponding "intelligent" proportional controller, which were already quite successful in many concrete and diverse situations. It results in an insulin injection for type 1 diabetes which displays via constant references a good nocturnal/fasting response, but unfortunately a poor postprandial behavior due to long hyperglycemia. When a variable reference is introduced, that switches between a constant one, when glycemia is more or less normal or moderate, and an exponential decay reference path, when a high glycemia rate indicates a meal intake, the results in silico, which employ real clinical data, become excellent. We obtain a bolus-shaped insulin injection rate during postprandial phases. The hyperglycemic peaks are therefore lowered a lot.
nationale supérieure des ingénieurs desétudes des techniques d'armement Laboratoire brestois de m... more nationale supérieure des ingénieurs desétudes des techniques d'armement Laboratoire brestois de mécanique et des systèmes 2 rue François Verny,
IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)
Abstract This paper presents a variable speed constant frequency system (VSCF) for aircraft appli... more Abstract This paper presents a variable speed constant frequency system (VSCF) for aircraft applications. The system consists in a doubly fed induction generator (DFIG) connected to a stand-alone aircraft grid through its stator windings. It uses back-to-back PWM converters ...
2007 46th IEEE Conference on Decision and Control, 2007
ABSTRACT In this study we propose an estimator for detecting impacts during the evolution of line... more ABSTRACT In this study we propose an estimator for detecting impacts during the evolution of linear systems subject to unilateral constraint with only the measurement of the position (possibly corrupted by noise). The detection scheme is based on fast algebraic estimator methods. This work provides an estimator, which is independent to the knowledge of the constraint position. Some simulation results are given in the presence of noise.
ABSTRACT The trajectory aspect of flatness is considered in this article from a feedforward point... more ABSTRACT The trajectory aspect of flatness is considered in this article from a feedforward point of view. This leads to the introduction of the notion of exact feedforward linearisation based on differential flatness.
Cette Note expose des conditions de rang necessaires et suffisantes pour le rejet dynamique de pe... more Cette Note expose des conditions de rang necessaires et suffisantes pour le rejet dynamique de perturbations et confirme l'importance du bouclage quasi-statique d'etat. Une unification du sujet est esquissee
Le language algebrique des filtrations fournit une transcription elegante des principales proprie... more Le language algebrique des filtrations fournit une transcription elegante des principales proprietes de l'algorithme de structure, dont on connait l'importance pour l'inversion entree-sortie. On en deduit le decouplage d'un systeme inversible a droite par un bouclage d'etat quasi-statique, qui n'exige integration d'equations differentielles
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Papers by Emmanuel Delaleau