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Bernard Brogliato

Directeur de Recherche INRIA
151
Documents

Research domains

Optimization and Control [math.OC]

Publications

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The Time-Freezing Reformulation for Numerical Optimal Control of Complementarity Lagrangian Systems with State Jumps - Extended Version

Armin Nurkanović , Sebastian Albrecht , Bernard Brogliato , Moritz Diehl
Automatica, In press, pp.1-17
Journal articles hal-03427800v2
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Modeling and control of overhead cranes: a tutorial overview and perspectives

Mohammad Rasool Mojallizadeh , Bernard Brogliato , Christophe Prieur
Annual Reviews in Control, 2023, pp.1-73. ⟨10.1016/j.arcontrol.2023.03.002⟩
Journal articles hal-04010839v1
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Discrete-time differentiators in closed-loop control systems: experiments on electro-pneumatic system and rotary inverted pendulum

Mohammad Rasool Mojallizadeh , Bernard Brogliato , Andrey Polyakov , Subiksha Selvarajan , Loïc Michel
Control Engineering Practice, 2023, 136, pp.1-28. ⟨10.1016/j.conengprac.2023.105546⟩
Journal articles hal-03125960v2
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Analysis of the implicit Euler time-discretization of passive linear descriptor complementarity systems

Bernard Brogliato , Alexandre Rocca
Journal of Nonsmooth Analysis and Optimization, 2022, Volume 3, paper 7269. ⟨10.46298/jnsao-2022-7269⟩
Journal articles hal-03169123v3
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Analysis of the implicit Euler time-discretization of a class of descriptor-variable linear cone complementarity systems

Bernard Brogliato
Journal of Convex Analysis, 2022, 29 (2), pp.481-517
Journal articles hal-03264720v1
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Dissipative dynamical systems with set-valued feedback loops Well-posed set-valued Lur'e dynamical systems

Bernard Brogliato
IEEE Control Systems Magazine, 2022, 42 (3), pp.93-114. ⟨10.1109/mcs.2022.3157160⟩
Journal articles hal-03293492v2
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Implicit Implementation of Nonsmooth Controllers to Nonsmooth Actuators

Ryo Kikuuwe , Yuki Yamamoto , Bernard Brogliato
IEEE Transactions on Automatic Control, 2022, 67 (9), pp.4645-4657. ⟨10.1109/TAC.2022.3163124⟩
Journal articles hal-03180790v2
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Upgrading a linear controller to a sliding mode one: Theory and experiments

Gabriele Perozzi , Andrey Polyakov , Felix Miranda-Villatoro , Bernard Brogliato
Control Engineering Practice, 2022, 123, pp.1-15. ⟨10.1016/j.conengprac.2022.105107⟩
Journal articles hal-03612804v1
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Analysis of the implicit Euler time-discretization of semi-explicit differential-algebraic linear complementarity systems

Bernard Brogliato
SIAM Journal on Control and Optimization, 2022, 60 (4), pp.2159-2183. ⟨10.1137/21M1396101⟩
Journal articles hal-03606276v2
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Approximate coefficient of restitution for nonlinear viscoelastic contact with external load

Abhishek Chatterjee , Guillaume James , Bernard Brogliato
Granular Matter, 2022, 24 (4), pp.124. ⟨10.1007/s10035-022-01284-w⟩
Journal articles hal-03463883v1
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Modeling, analysis and control of robot-object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Bernard Brogliato
Annual Reviews in Control, 2022, 55, pp.297-337. ⟨10.1016/j.arcontrol.2022.12.002⟩
Journal articles hal-03776995v2
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Digital implementation of sliding-mode control via the implicit method: A tutorial

Bernard Brogliato , Andrey Polyakov
International Journal of Robust and Nonlinear Control, 2021, Special Issue: Homogeneous Sliding‐Mode Control and Observation, 31 (9), pp.3528-3586. ⟨10.1002/rnc.5121⟩
Journal articles hal-02523011v2
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Discrete-time differentiators: design and comparative analysis

Mohammad Rasool Mojallizadeh , Bernard Brogliato , Vincent Acary
International Journal of Robust and Nonlinear Control, 2021, 31 (16), pp.7679-7723. ⟨10.1002/rnc.5710⟩
Journal articles hal-02960923v2
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Kuwabara-Kono numerical dissipation: a new method to simulate granular matter

Guillaume James , Kirill Vorotnikov , Bernard Brogliato
IMA Journal of Applied Mathematics, 2020, 85 (1), pp.27-66. ⟨10.1093/imamat/hxz034⟩
Journal articles hal-01878973v1
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Lyapunov stability analysis of the implicit discrete-time twisting control algorithm

Olivier Huber , Vincent Acary , Bernard Brogliato
IEEE Transactions on Automatic Control, 2020, 65 (6), pp.2619-2626. ⟨10.1109/TAC.2019.2940323⟩
Journal articles hal-01622092v2
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A direct proof of the equivalence of side conditions for strictly positive real matrix transfer functions

Augusto Ferrante , Alexander Lanzon , Bernard Brogliato
IEEE Transactions on Automatic Control, 2020, 65 (1), pp.450-452. ⟨10.1109/TAC.2019.2918123⟩
Journal articles hal-01947938v1
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The contact problem in Lagrangian systems with redundant frictional bilateral and unilateral constraints and singular mass matrix. The all-sticking contacts problem

Bernard Brogliato , József Kövecses , Vincent Acary
Multibody System Dynamics, 2020, 48 (2), pp.151-192. ⟨10.1007/s11044-019-09712-1⟩
Journal articles hal-02315547v1
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The implicit discretization of the super-twisting sliding-mode control algorithm

Bernard Brogliato , Andrey Polyakov , Denis Efimov
IEEE Transactions on Automatic Control, 2020, 65 (8), pp.3707-3713. ⟨10.1109/TAC.2019.2953091⟩
Journal articles hal-02336599v1
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Dynamical systems coupled with monotone set-valued operators: Formalisms, applications, well-posedness, and stability

Bernard Brogliato , Aneel Tanwani
SIAM Review, 2020, 62 (1), pp.3-129. ⟨10.1137/18M1234795⟩
Journal articles hal-02379498v1
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Quadratic Optimal Control of Linear Complementarity Systems: First order necessary conditions and numerical analysis

Alexandre Vieira , Bernard Brogliato , Christophe Prieur
IEEE Transactions on Automatic Control, 2020, 65 (6), pp.2743-2750. ⟨10.1109/TAC.2019.2945878⟩
Journal articles hal-01690400v3
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Consistent Discretization of Finite-time and Fixed-time Stable Systems

Andrey Polyakov , Denis Efimov , Bernard Brogliato
SIAM Journal on Control and Optimization, 2019, 57 (1), pp.78-103. ⟨10.1137/18M1197345⟩
Journal articles hal-01838712v2
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Continuous and discrete-time stability of a robust set-valued nested controller

Felix Miranda-Villatoro , Fernando Castaños , Bernard Brogliato
Automatica, 2019, 107, pp.406-417. ⟨10.1016/j.automatica.2019.06.003⟩
Journal articles hal-01944920v2
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Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation

Narendra Akhadkar , Vincent Acary , Bernard Brogliato
Multibody System Dynamics, 2018, 42 (3), pp.249-282. ⟨10.1007/s11044-017-9584-5⟩
Journal articles hal-01562703v1
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Set-valued sliding-mode control of uncertain linear systems: continuous and discrete-time analysis

Felix Miranda-Villatoro , Bernard Brogliato , Fernando Castaños
SIAM Journal on Control and Optimization, 2018, 56 (3), pp.1756-1793. ⟨10.1137/16M1077362⟩
Journal articles hal-01317948v1
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Well-Posedness and Output Regulation for Implicit Time-Varying Evolution Variational Inequalities

Aneel Tanwani , Bernard Brogliato , Christophe Prieur
SIAM Journal on Control and Optimization, 2018, 56 (2), pp.751-781. ⟨10.1137/16M1083657⟩
Journal articles hal-01360325v2
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Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial

Bernard Brogliato
Multibody System Dynamics, 2018, 42 (3), pp.283-315. ⟨10.1007/s11044-017-9585-4⟩
Journal articles hal-01499581v2
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Non-autonomous higher-order Moreau's sweeping process: Well-posedness, stability and Zeno trajectories

Bernard Brogliato
European Journal of Applied Mathematics, 2018, 29 (5), pp.941-968. ⟨10.1017/S0956792518000256⟩
Journal articles hal-01722772v2
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Errata to “Multivalued Robust Tracking Control of Lagrange Systems: Continuous and Discrete-Time Algorithms” [Sep 17 4436-4450]

Felix Miranda-Villatoro , Bernard Brogliato , Fernando Castaños
IEEE Transactions on Automatic Control, 2018, 63 (8), pp.2750. ⟨10.1109/TAC.2018.2827992⟩
Journal articles hal-01927000v1
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Comparison of several formulations and integration methods for the resolution of DAEs formulations in event-driven simulation of nonsmooth frictionless multibody dynamics

Mounia Haddouni , Vincent Acary , Stéphane Garreau , Jean-Daniel Beley , Bernard Brogliato
Multibody System Dynamics, 2017, 41 (3), pp.201-231. ⟨10.1007/s11044-017-9570-y⟩
Journal articles hal-01562700v2
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A New Representation of Systems with Frictional Unilateral Constraints and Its Baumgarte-Like Relaxation

Ryo Kikuuwe , Bernard Brogliato
Multibody System Dynamics, 2017, 39 (3), pp.267-290. ⟨10.1007/s11044-015-9491-6⟩
Journal articles hal-01235861v1
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Multivalued robust tracking control of fully actuated Lagrange systems: Continuous and discrete–time algorithms

Felix Miranda-Villatoro , Bernard Brogliato , Fernando Castaños
IEEE Transactions on Automatic Control, 2017, 62 (9), pp.4436-4450. ⟨10.1109/TAC.2017.2662804⟩
Journal articles hal-01254303v1
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Comments on "Chattering-free digital sliding-mode control with state observer anddisturbance rejection''

Vincent Acary , Bernard Brogliato , Yuri Orlov
IEEE Transactions on Automatic Control, 2016, 61 (11), pp.3707. ⟨10.1109/TAC.2015.2509445⟩
Journal articles hal-01243532v1
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Observer Design for Unilaterally Constrained Lagrangian Systems: A Passivity-Based Approach

Aneel Tanwani , Bernard Brogliato , Christophe Prieur
IEEE Transactions on Automatic Control, 2016, 61 (9), pp.2386-2401. ⟨10.1109/TAC.2015.2492098⟩
Journal articles hal-01113344v3
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Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances

Narendra Akhadkar , Vincent Acary , Bernard Brogliato
Multibody System Dynamics, 2016, 38 (2), pp.101-136. ⟨10.1007/s11044-016-9523-x⟩
Journal articles hal-01218531v1
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Implicit Euler Time-Discretization of a Class of Lagrangian Systems with Set-Valued Robust Controller

Samir Adly , Bernard Brogliato , Le Ba Khiet
Journal of Convex Analysis, 2016, 23 (1), pp.23-52
Journal articles hal-01313222v1
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The contact problem in Lagrangian systems subject to bilateral and unilateral constraints, with or without sliding Coulomb's friction: A tutorial

Alejandro Blumentals , Bernard Brogliato , Florence Bertails-Descoubes
Multibody System Dynamics, 2016, 38 (1), pp.43-76. ⟨10.1007/s11044-016-9527-6⟩
Journal articles hal-01096394v2
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Lyapunov stability and performance analysis of the implicit discrete sliding mode control

Olivier Huber , Vincent Acary , Bernard Brogliato
IEEE Transactions on Automatic Control, 2016, 61 (10), pp.3016-3030. ⟨10.1109/TAC.2015.2506991⟩
Journal articles hal-01236159v1
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Implicit discrete-time twisting controller without numerical chattering: analysis and experimental results

Olivier Huber , Vincent Acary , Bernard Brogliato , Franck Plestan
Control Engineering Practice, 2016, 46, pp.129-141. ⟨10.1016/j.conengprac.2015.10.013⟩
Journal articles hal-01235899v1
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Asymptotic analysis of Painlevé' s paradox

Zhen Zhao , Caishan Liu , Chen Bin , Bernard Brogliato
Multibody System Dynamics, 2015, 35 (3), pp.299-319. ⟨10.1007/s11044-014-9448-1⟩
Journal articles hal-01232780v1
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Stability Notions for a Class of Nonlinear Systems with Measure Controls

Aneel Tanwani , Bernard Brogliato , Christophe Prieur
Mathematics of Control, Signals, and Systems, 2015, 27 (2), pp.245-275. ⟨10.1007/s00498-015-0140-7⟩
Journal articles hal-01074144v1
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Experimental Comparisons Between Implicit and Explicit Implementations of Discrete-Time Sliding Mode Controllers: Toward Input and Output Chattering Suppression

Bin Wang , Bernard Brogliato , Vincent Acary , Ahcene Boubakir , Franck Plestan
IEEE Transactions on Control Systems Technology, 2015, 23 (5), pp.2071-2075. ⟨10.1109/TCST.2015.2396473⟩
Journal articles hal-01625866v1
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Singular mass matrix and redundant constraints in unilaterally constrained Lagrangian and Hamiltonian systems

Bernard Brogliato , Daniel Goeleven
Multibody System Dynamics, 2015, 35 (1), pp.39-61. ⟨10.1007/s11044-014-9437-4⟩
Journal articles hal-01088286v1
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Dynamics of planar rocking-blocks with Coulomb friction and unilateral constraints: comparisons between experimental and numerical data

Hongjian Zhang , Bernard Brogliato , Caishan Liu
Multibody System Dynamics, 2014, 32 (1), pp.1-25. ⟨10.1007/s11044-013-9356-9⟩
Journal articles hal-01629038v2
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Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction

Bernard Brogliato
Multibody System Dynamics, 2014, 32 (2), pp.175-216. ⟨10.1007/s11044-013-9392-5⟩
Journal articles hal-01088288v1
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Stability and Observer Design for Lur'e Systems with Multivalued, Nonmonotone, Time-Varying Nonlinearities and State Jumps

Aneel Tanwani , Bernard Brogliato , Christophe Prieur
SIAM Journal on Control and Optimization, 2014, 52 (6), pp.3639-3672. ⟨10.1137/120902252⟩
Journal articles hal-01083629v1
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Numerical simulation of piecewise-linear models of gene regulatory networks using complementarity systems

Vincent Acary , Hidde de Jong , Bernard Brogliato
Physica D: Nonlinear Phenomena, 2014, 269, pp.103-119. ⟨10.1016/j.physd.2013.11.013⟩
Journal articles hal-00924044v1
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Well-Posedness, Robustness, and Stability Analysis of a Set-Valued Controller for Lagrangian Systems

Samir Adly , Bernard Brogliato , Le Ba Khiet
SIAM Journal on Control and Optimization, 2013, 51 (2), pp.1592-1614. ⟨10.1137/120872450⟩
Journal articles hal-00825578v1
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On preserving dissipativity properties of linear complementarity dynamical systems with the $θ$-method

Scott Greenhalgh , Vincent Acary , Bernard Brogliato
Numerische Mathematik, 2013, 125 (4), pp.601-637. ⟨10.1007/s00211-013-0553-5⟩
Journal articles hal-00807807v1
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Existence, uniqueness of solutions and stability of nonsmooth multivalued Lur'e dynamical systems

Bernard Brogliato , Daniel Goeleven
Journal of Convex Analysis, 2013, 20 (3), pp.881-900
Journal articles hal-00825601v1
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Study of the Planar Rocking-Block Dynamics With Coulomb Friction: Critical Kinetic Angles

Hongjian Zhang , Bernard Brogliato , Caishan Liu
Journal of Computational and Nonlinear Dynamics, 2013, 8 (2), pp.11. ⟨10.1115/1.4007056⟩
Journal articles hal-00825590v1
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Impact-contact dynamics in a disc-ball system

Caishan Liu , Hongjian Zhang , Zhao Zhen , Bernard Brogliato
Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2013, 469 (2152), pp.20. ⟨10.1098/rspa.2012.0741⟩
Journal articles hal-00825597v1
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Inertial couplings between unilateral and bilateral holonomic constraints in frictionless Lagrangian systems

Bernard Brogliato
Multibody System Dynamics, 2013, 29 (3), pp.289-325. ⟨10.1007/s11044-012-9317-8⟩
Journal articles hal-00825581v1
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Switching, relay and complementarity systems: A tutorial on their well-posedness and relationships

Carmina Georgescu , Bernard Brogliato , Vincent Acary
Physica D: Nonlinear Phenomena, 2012, Dynamics and Bifurcations of Nonsmooth Systems, 241 (22), pp.50. ⟨10.1016/j.physd.2011.10.014⟩
Journal articles hal-00646982v1
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Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls

Bernard Brogliato , Zhang Hongjian , Caishan Liu
Multibody System Dynamics, 2012, 27 (3), pp.351-382. ⟨10.1007/s11044-012-9301-3⟩
Journal articles hal-00825573v1
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Shock dynamics in granular chains: numerical simulations and comparison with experimental tests

Son Nguyen Ngoc , Bernard Brogliato
Granular Matter, 2012, 14 (3), pp.341-362. ⟨10.1007/s10035-012-0338-z⟩
Journal articles hal-00825561v1
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Chattering-Free Digital Sliding-Mode Control with State Observer and Disturbance Rejection

Vincent Acary , Bernard Brogliato , Yuri V Orlov
IEEE Transactions on Automatic Control, 2012, 57 (5), pp.1087-1101. ⟨10.1109/TAC.2011.2174676⟩
Journal articles inria-00580713v1
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Observer-based control of linear complementarity systems

W. P. Maurice H. Heemels , M. Kanat Camlibel , Johannes M. Schumacher , Bernard Brogliato
International Journal of Robust and Nonlinear Control, 2011, Special Issue: New Directions on Hybrid Control Systems, 21 (10), pp.1193-1218. ⟨10.1002/rnc.1626⟩
Journal articles hal-00756195v1
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Well-posedness, stability and invariance results for a class of multivalued Lur'e dynamical systems

Bernard Brogliato , Daniel Goeleven
Nonlinear Analysis: Theory, Methods and Applications, 2011, 74 (1), pp.195-212. ⟨10.1016/j.na.2010.08.034⟩
Journal articles hal-01633239v1
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A qualitative mathematical analysis of a class of variational inequalities via semi-complementarity problems: applications in electronics

Khalid Addi , Bernard Brogliato , Daniel Goeleven
Mathematical Programming, 2011, 126 (1), pp.31-67. ⟨10.1007/s10107-009-0268-7⟩
Journal articles hal-00756295v1
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Time-stepping numerical simulation of switched circuits with the nonsmooth dynamical systems approach

Vincent Acary , Olivier Bonnefon , Bernard Brogliato
IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, 2010, 29 (7), pp.1042-1055. ⟨10.1109/TCAD.2010.2049134⟩
Journal articles inria-00423550v1
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Implicit Euler numerical scheme and chattering-free implementation of sliding mode systems

Vincent Acary , Bernard Brogliato
Systems and Control Letters, 2010, 59 (5), pp.284-295. ⟨10.1016/j.sysconle.2010.03.002⟩
Journal articles inria-00423576v1
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Existence and Uniqueness of Solutions for Non-Autonomous Complementarity Dynamical Systems

Bernard Brogliato , Lionel Thibault
Journal of Convex Analysis, 2010, 17 (3&4), pp.961-990
Journal articles hal-00756226v1
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Passivity-based switching control of flexible-joint complementarity mechanical systems

Irinel-Constantin Morarescu , Bernard Brogliato
Automatica, 2010, 46 (1), pp.160-166. ⟨10.1016/j.automatica.2009.10.023⟩
Journal articles hal-00755991v1
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Trajectory Tracking Control of Multiconstraint Complementarity Lagrangian Systems

Irinel-Constantin Morarescu , Bernard Brogliato
IEEE Transactions on Automatic Control, 2010, 55 (6), pp.1300-1313. ⟨10.1109/TAC.2010.2042231⟩
Journal articles hal-00756307v1
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Observer Design for Lur'e Systems With Multivalued Mappings: A Passivity Approach

Bernard Brogliato , Maurice Heemels
IEEE Transactions on Automatic Control, 2009, 54 (8), pp.1996-2001. ⟨10.1109/TAC.2009.2023968⟩
Journal articles hal-00756302v1
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Planar dynamics of a rigid body system with frictional impacts. II Qualitative analysis and numerical simulations

Zhen Zhao , Caishan Liu , Bernard Brogliato
Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2009, 465 (2107), pp.2267-2292. ⟨10.1098/rspa.2008.0520⟩
Journal articles hal-00755926v1
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Some results on optimal control with unilateral state constraints

Bernard Brogliato
Nonlinear Analysis: Theory, Methods and Applications, 2009, 70 (10), pp.3626-3657. ⟨10.1016/j.na.2008.07.020⟩
Journal articles hal-01633237v1
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Frictionless multiple impacts in multibody systems. II. Numerical algorithm and simulation results

Caishan Liu , Zhen Zhao , Bernard Brogliato
Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2009, 465 (2101), pp.1-23. ⟨10.1098/rspa.2008.0079⟩
Journal articles hal-00755948v1
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Review of "Piecewise-Smooth Dynamical Systems: Theory and Applications by M. di Bernardo, C. Budd, A. Champneys and P. Kowalczyk; 2008"

Bernard Brogliato
IEEE Control Systems Magazine, 2008, pp.141-143. ⟨10.1109/MCS.2008.929164⟩
Journal articles hal-00821363v1
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Frictionless mutliple impacts in multibody systems. I Theoretical framework

Caishan Liu , Zhen Zhao , Bernard Brogliato
Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2008, 464 (2100), pp.3193-3211. ⟨10.1098/rspa.2008.0078⟩
Journal articles hal-00755941v1
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Energy dissipation and dispersion effects in granular media

Zhen Zhao , Caishan Liu , Bernard Brogliato
Physical Review E , 2008, 78 (3), pp.031307:1-13. ⟨10.1103/PhysRevE.78.031307⟩
Journal articles hal-01633231v1
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Higher order Moreau's sweeping process: Mathematical formulation and numerical simulation

Vincent Acary , Bernard Brogliato , Daniel Goeleven
Mathematical Programming, 2008, 113 (1), pp.133-217. ⟨10.1007/s10107-006-0041-0⟩
Journal articles inria-00423566v1
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A method using the approach of Moreau and Panagiotopoulos for the mathematical formulation of non-regular circuits in electronics

Khalid Addi , Samir Adly , Bernard Brogliato , Daniel Goeleven
Nonlinear Analysis: Hybrid Systems, 2007, 1 (1), pp.30-43. ⟨10.1016/j.nahs.2006.04.001⟩
Journal articles hal-00450964v2
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Comments on "Control of a Planar Underactuated Biped on a Complete Walking Cycle"

Bernard Brogliato
IEEE Transactions on Automatic Control, 2007, 52 (5), pp.961-964. ⟨10.1109/TAC.2007.895947⟩
Journal articles hal-01633240v1
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On the equivalence between complementarity systems, projected systems and differential inclusions

Bernard Brogliato , Aris Daniilidis , Claude Lemarechal , Vincent Acary
Systems and Control Letters, 2006, 55 (1), pp.45-51. ⟨10.1016/j.sysconle.2005.04.015⟩
Journal articles inria-00423552v1

On the controllability of linear juggling mechanical systems

Bernard Brogliato , Mongi Mabrouk , Arturo Zavala-Rio
Systems and Control Letters, 2006, ⟨10.1016/j.sysconle.2005.08.012⟩
Journal articles hal-02303983v1
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Some perspectives on the analysis and control of complementarity systems

Bernard Brogliato
IEEE Transactions on Automatic Control, 2003, 48 (6), pp.918-935. ⟨10.1109/TAC.2003.812777⟩
Journal articles hal-01660014v1
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Periodic motion and bifurcations induced by the Painlevé paradox

Remco Leine , Bernard Brogliato , Henk Nijmeijer
European Journal of Mechanics - A/Solids, 2002, ⟨10.1016/S0997-7538(02)01231-7⟩
Journal articles hal-01310673v1
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Numerical simulation of finite dimensional multibody nonsmooth mechanical systems

Bernard Brogliato , Tony ten Dam , Laetitia Paoli , Frank Génot , Michel Abadie
Applied Mechanics Reviews, 2002, 55 (2), pp.107-150. ⟨10.1115/1.1454112⟩
Journal articles hal-01349852v1
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Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers

Arturo Zavala-Río , Bernard Brogliato
Automatica, 2001, 37 (7), pp.1117-1123. ⟨10.1016/S0005-1098(01)00061-9⟩
Journal articles hal-02280051v1
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On the control of complementary-slackness juggling mechanical systems

Bernard Brogliato , Arturo Zavala Rio
IEEE Transactions on Automatic Control, 2000, 45 (2), pp.235-246. ⟨10.1109/9.839946⟩
Journal articles hal-02303804v1

On tracking control of a class of complementary-slackness hybrid mechanical systems

Bernard Brogliato , Silviu-Iulian Niculescu , M. Monteiro-Marques
Systems and Control Letters, 2000, 39 (4), pp.255-266. ⟨10.1016/S0167-6911(99)00104-8⟩
Journal articles hal-02299338v1
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On the Control of a One Degree-of-Freedom Juggling Robot

Bernard Brogliato , Arturo Zavala-Río
Dynamics and Control, 1999, 9 (1), pp.67-91. ⟨10.1023/A:1008346825330⟩
Journal articles hal-02303974v1
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Force Measurement Time-Delays and Contact Instability Phenomenon

S.-I. Niculescu , Bernard Brogliato
European Journal of Control, 1999, 5 (2-4), pp.279-289. ⟨10.1016/S0947-3580(99)70163-9⟩
Journal articles hal-02296042v1

Discussion on 'Force measurement time-delays and contact instability phenomenon' by S.-I. Niculescu and B. Brogliato

A Tornambe , Silviu-Iulian Niculescu , Bernard Brogliato
European Journal of Control, 1999, 5 (2-4), pp.290-292. ⟨10.1016/S0947-3580(99)70164-0⟩
Journal articles hal-02301832v1
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Contact Stability Analysis of a One Degree-of-Freedom Robot

Bernard Brogliato , P. Orhant
Dynamics and Control, 1998, 8 (1), pp.37-53. ⟨10.1023/A:1008226913003⟩
Journal articles hal-02279953v1
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On the control of finite-dimensional mechanical systems with unilateral constants

Bernard Brogliato , Silviu-Iulian Niculescu , Pascal Orhant
IEEE Transactions on Automatic Control, 1997, 42 (2), pp.200-215. ⟨10.1109/9.554400⟩
Journal articles hal-02301675v1
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Correction to "Adaptive control of flexible joint manipulators"

Bernard Brogliato , Rogelio Lozano
IEEE Transactions on Automatic Control, 1996, 41 (6), pp.920-922. ⟨10.1109/9.506251⟩
Journal articles hal-03592564v1
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Adaptive control of a simple nonlinear system without a priori information on the plant parameters

Rogelio Lozano , Bernard Brogliato
IEEE Transactions on Automatic Control, 1992, 37 (1), pp.30-37. ⟨10.1109/9.109636⟩
Journal articles hal-03592572v1
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Adaptive Control of Robot Manipulators with Flexible Joints

Rogelio Lozano , Bernard Brogliato
IEEE Transactions on Automatic Control, 1992, 37 (2), pp.174-181. ⟨10.1109/9.121619⟩
Journal articles hal-03592568v1
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Adaptive hybrid force-position control for redundant manipulators

Rogelio Lozano , Bernard Brogliato
IEEE Transactions on Automatic Control, 1992, 37 (10), pp.1501-1505. ⟨10.1109/9.256368⟩
Journal articles hal-03592573v1
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Passivity and global stabilization of cascaded nonlinear systems

Rogelio Lozano , Bernard Brogliato , Ioan Doré Landau
IEEE Transactions on Automatic Control, 1992, 37 (9), pp.1386-1388. ⟨10.1109/9.159577⟩
Journal articles hal-03609615v1
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Adaptive motion control of robot manipulators: A unified approach based on passivity

Bernard Brogliato , Ioan Doré Landau , Rogelio Lozano-Leal
International Journal of Robust and Nonlinear Control, 1991, 1 (3), pp.187-202. ⟨10.1002/rnc.4590010305⟩
Journal articles hal-03611279v1

Dissipative Systems Analysis and Control

Bernard Brogliato , Rogelio Lozano , Bernard Maschke , Olav Egeland
Springer International Publishing, 2020, Communication and Control Engineering, ⟨10.1007/978-3-030-19420-8⟩
Books hal-02407669v1

Nonsmooth Mechanics

Bernard Brogliato
Springer International Publishing Switzerland; Communications and Control Engineering, 2016, 978-3-319-28662-4. ⟨10.1007/978-3-319-28664-8⟩
Books hal-01236953v1

Multiple Impacts in Dissipative Granular Chains

Son Nguyen Ngoc , Bernard Brogliato
Springer Verlag, 72, pp.234, 2014, Lecture Notes in Applied and Computational Mechanics, 978-3-642-39297-9. ⟨10.1007/978-3-642-39298-6⟩
Books hal-00908612v1

Nonsmooth Modeling and Simulation for Switched Circuits

Vincent Acary , Olivier Bonnefon , Bernard Brogliato
Springer Verlag, 69, 2010, Lecture Notes in Electrical Engineering, 9789048196807. ⟨10.1007/978-90-481-9681-4⟩
Books inria-00522358v1
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Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics

Vincent Acary , Bernard Brogliato
Springer Verlag, 35, pp.526, 2008, Lecture Notes in Applied and Computational Mechanics, 978-3-540-75391-9. ⟨10.1007/978-3-540-75392-6⟩
Books inria-00423530v1

Dissipative Systems Analysis And Control: Theory And Applications

Bernard Brogliato , Rogelio Lozano , Bernhard Maschke , Olav Egeland
Springer, pp.576, 2007, Communications and Control Engineering, 978-1-84628-517-2
Books hal-00821748v1

Passivity-based control system analysis and design

Bernard Brogliato , R. Lozano , Bernhard Maschke , O. Egeland
Springer-Verlag,, pp.Communications and Control Engineering Series, 2nd edition 2006, 2006, Communications and Control Engineering Series
Books hal-00449930v1
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Comparisons of multiple-impact laws for multibody systems: Moreau's law, binary impacts, and the LZB approach

Ngoc Son Nguyen , Bernard Brogliato
Advanced Topics in Nonsmooth Dynamics. Transactions of the European Network for Nonsmooth Dynamics, Springer International Publishing AG, pp.1-45, 2018, Advanced Topics in Nonsmooth Mechanics. Transactions of the European Network for Nonsmooth Dynamics, ⟨10.1007/978-3-319-75972-2_1⟩
Book sections hal-01932551v1
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Experimental results on implicit and explicit time-discretization of equivalent-control-based sliding-mode control

Olivier Huber , Bernard Brogliato , Vincent Acary , Ahcene Boubakir , Franck Plestan
L. Fridman; J.P. Barbot; F. Plestan. Recent Trends in Sliding Mode Control, 102, IET, pp.207-235, 2016, IET Control, Robotics and Sensors Series, 978-1-78561-076-9. ⟨10.1049/PBCE102E_ch3.2⟩
Book sections hal-01238120v1
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Multiple Impacts in Granular Chains

Ngoc-Son Nguyen , Bernard Brogliato
Multiple Impacts in Dissipative Granular Chains, 72, Springer, pp.11-29, 2014, Lecture Notes in Applied and Computational Mechanics, 978-3-642-39297-9. ⟨10.1007/978-3-642-39298-6_2⟩
Book sections hal-01633232v1
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Higher Order Moreau's Sweeping Process

Vincent Acary , Bernard Brogliato
Alart, P. and Maisonneuve, O. and Rockafellar, R. T. Nonsmooth Mechanics and Analysis, 12, Springer Verlag, pp.261-277, 2007, Advances in Mechanics and Mathematics, ⟨10.1007/0-387-29195-4_22⟩
Book sections hal-00758609v1
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Lagrange dynamics of lumped-mass multibody models of overhead cranes in 2D and 3D operational spaces

Bernard Brogliato
[Research Report] INRIA. 2023, pp.1-40
Reports hal-03674652v2
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Modeling and control of overhead cranes: a survey

Mohammad Rasool Mojallizadeh , Bernard Brogliato , Christophe Prieur
[Research Report] INRIA Grenoble; UGA (Université Grenoble Alpes); GIPSA Lab; INP Grenoble; LJK / Grenoble University - INRIA. 2022, pp.1-134
Reports hal-03817363v2
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Approximate analytical coefficient of restitution formulation for single bead impact with external load, using nonlinear visco-elastic models

Abhishek Chatterjee , Guillaume James , Bernard Brogliato
[Research Report] INRIA Grenoble - Rhone-Alpes. 2021, pp.1-50
Reports hal-03462750v1
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Nonsmooth Mechanics. Models, Dynamics and Control : Erratum/Addendum

Bernard Brogliato
[0] INRIA Grenoble - Rhone-Alpes. 2021, pp.1-15
Reports hal-01331565v7
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Index-2 hybrid DAE: a case study with well-posedness and numerical analysis

Alexandre Rocca , Vincent Acary , Bernard Brogliato
[Research Report] Inria - Research Centre Grenoble – Rhône-Alpes. 2019
Reports hal-02381489v2
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Dissipative Systems Analysis and Control, Theory and Applications: Addendum/Erratum

Bernard Brogliato
[Research Report] INRIA Grenoble - Rhone-Alpes. 2016
Reports hal-01338369v1
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Stability and Observer Design for a Class of Nonsmooth Dynamical Systems with Nonconvex State Constraints

Aneel Tanwani , Bernard Brogliato , Christophe Prieur
[Research Report] Gipsa-Lab and INRIA. 2014
Reports hal-00790618v3
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Comparisons between implicit and explicit discrete-time implementations of equivalent-control-based sliding mode controllers: input and output chattering suppression via the implicit method

Bin Wang , Bernard Brogliato , Vincent Acary , Ahcene Boubakir , Franck Plestan
[Research Report] Inria Grenoble Rhône-Alpes. 2014
Reports hal-01087400v1
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Analysis of explicit and implicit discrete-time equivalent-control based sliding mode controllers

Olivier Huber , Vincent Acary , Bernard Brogliato
[Research Report] RR-8383, INRIA. 2013, pp.23
Reports hal-00875209v1
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Numerical Simulation of Piecewise-Linear Models of Gene Regulatory Networks Using Complementarity Systems

Vincent Acary , Hidde de Jong , Bernard Brogliato
[Research Report] RR-8207, INRIA. 2013, pp.42
Reports hal-00778412v1
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Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction

Bernard Brogliato
[Research Report] RR-8158, INRIA. 2012
Reports hal-00762986v1
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The planar rocking-block: analysis of kinematic restitution laws, and a new rigid-body impact model with friction

Hongjian Zhang , Bernard Brogliato
[Research Report] RR-7580, INRIA. 2011
Reports inria-00579231v2
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Shock dynamics in granular chains: numerical simulations and comparison with experimental tests

Ngoc-Son Nguyen , Bernard Brogliato
[Research Report] RR-7636, INRIA. 2011
Reports inria-00597468v1
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Preservation of the dissipativity properties of a class of nonsmooth dynamical systems with the (θ,γ)-algorithm

Scott Greenhalgh , Vincent Acary , Bernard Brogliato
[Research Report] RR-7632, INRIA. 2011, pp.51
Reports inria-00596961v1
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Chattering-free digital sliding-mode control with state observer and disturbance rejection

Vincent Acary , Bernard Brogliato , Yury Orlov
[Research Report] RR-7326, INRIA. 2010
Reports inria-00494417v2
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Well-posedness, stability and invariance results for a class of multivalued Lur'e dynamical systems

Bernard Brogliato , Daniel Goeleven
[Research Report] RR-7158, INRIA. 2009
Reports inria-00442081v1
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Implicit Euler numerical simulations of sliding mode systems

Vincent Acary , Bernard Brogliato
[Research Report] RR-6886, INRIA. 2009, pp.39
Reports inria-00374840v2
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Design of observers and certainty equivalence controllers for differential inclusions: a passivity approach

Bernard Brogliato , W.P. Maurice H. Heemels
[Research Report] RR-6916, INRIA. 2009
Reports inria-00380820v1
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The nonsmooth dynamical systems approach for the analog simulation of switched circuits within the Siconos framework

Vincent Acary , Olivier Bonnefon , Bernard Brogliato
[Research Report] RR-7061, INRIA. 2009, pp.26
Reports inria-00423955v1
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Passivity-based tracking control of multiconstraint complementarity Lagrangian systems

Irinel-Constantin Morarescu , Bernard Brogliato
[Research Report] RR-6483, INRIA. 2008, pp.35
Reports inria-00266810v2
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Theoretical Analysis and Numerical Algorithm for Frictionless Multiple Impacts in Multibody Systems

Caishan Liu , Zhen Zhao , Bernard Brogliato
[Research Report] 2008
Reports inria-00204018v1
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Passivity-based switching control of flexible-joint complementarity mechanical systems

Irinel-Constantin Morarescu , Bernard Brogliato , Said Haad
[Research Report] RR-6739, INRIA. 2008, pp.41
Reports inria-00342292v1
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Variable structure dynamics in a bouncing dimer

Caishan Liu , Zhen Zhao , Bernard Brogliato
[Research Report] RR-6718, INRIA. 2008
Reports inria-00337482v1
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Observer design for dissipative multivalued dynamical systems

Bernard Brogliato , W.P. Maurice H. Heemels
[Research Report] 2007
Reports inria-00139576v2
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Some results on the optimal control with unilateral state constraints

Bernard Brogliato
[Research Report] RR-5992, INRIA. 2006
Reports inria-00103775v2
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Well-posedness results for non-autonomous dissipative complementarity systems

Bernard Brogliato , Lionel Thibault
[Research Report] RR-5931, INRIA. 2006
Reports inria-00079220v3
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A qualitative mathematical analysis of a class of variational inequalities via semi-complementarity problems. Applications in electronics

Khalid Addi , Bernard Brogliato , Daniel Goeleven
[Research Report] RR-5990, INRIA. 2006
Reports inria-00103328v2
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On the Equivalence Between Complementarity Systems, Projected Systems and Unilateral Differential Inclusions

Vincent Acary , Bernard Brogliato , Aris Daniilidis , Claude Lemaréchal
[Research Report] RR-5107, INRIA. 2004
Reports inria-00071475v1
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Higher order Moreau's sweeping process: Mathematical formulation and numerical simulation

Vincent Acary , Bernard Brogliato , Daniel Goeleven
[Research Report] RR-5236, INRIA. 2004, pp.60
Reports inria-00070762v1
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Necessary Conditions of asymptotic stability for unilateral dynamical systems

Daniel Goeleven , Bernard Brogliato
[Research Report] RR-5171, INRIA. 2004
Reports inria-00071417v1
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Coefficients de restitution et efforts aux impacts : Revue et comparaison des estimations analytiques

Vincent Acary , Bernard Brogliato
[Rapport de recherche] RR-5401, INRIA. 2004, pp.162
Reports inria-00070602v1
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Robustness analysis of Passivity-based Controllers for Complementarity Lagrangian Systems

Jean-Matthieu Bourgeot , Bernard Brogliato
[Research Report] RR-5385, INRIA. 2004, pp.19
Reports inria-00070618v1
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Tracking Control of Complementarity Lagrangian Systems

Jean-Matthieu Bourgeot , Bernard Brogliato
[Research Report] RR-5384, INRIA. 2004, pp.51
Reports inria-00070619v1
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Stability and Unstability Matrices for Linear Evolution Variational Inequalities

Daniel Goeleven , Bernard Brogliato
[Research Report] RR-4768, INRIA. 2003
Reports inria-00071818v1
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Absolute stability and the Lagrange-Dirichlet theorem with monotone multivalued mappings

Bernard Brogliato
RR-4794, INRIA. 2003
Reports inria-00071792v1
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Some results on the controllability of planar variational inequalities

Bernard Brogliato
RR-4788, INRIA. 2003
Reports inria-00071798v1
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On the controllability of linear juggling mechanical systems

Bernard Brogliato , Mongi Mabrouk , Arturo Zavala-Rio
[Research Report] RR-4772, INRIA. 2003
Reports inria-00071814v1
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Comments on «Dynamical properties of hybrid automata», IEEE Trans. on Automatic Control, vol.48, pp.2-14, 2003

Bernard Brogliato
RR-4839, INRIA. 2003
Reports inria-00071746v1
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Modeling, Stability and Control of Biped Robots A General Framework

Yildirim Hurmuzlu , Frank Génot , Bernard Brogliato
[Research Report] RR-4290, INRIA. 2001
Reports inria-00072297v1
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Bifurcations and Periodic Motion Induced by the Painlevé Paradox

Remco Leine , Bernard Brogliato
[Research Report] RR-4322, INRIA. 2001
Reports inria-00072265v1
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New Results on Painlevé Paradoxes

Frank Génot , Bernard Brogliato
RR-3366, INRIA. 1998
Reports inria-00073323v1