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The Time-Freezing Reformulation for Numerical Optimal
Control of Complementarity Lagrangian Systems with State
Jumps - Extended Version
Armin Nurkanović
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Sebastian Albrecht
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Bernard Brogliato
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Moritz Diehl
Automatica, inPress, pp.1-17
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Discrete-time differentiators in closed-loop control systems: experiments on electro-pneumatic system and rotary inverted pendulum
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Bernard Brogliato
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Andrey Polyakov
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Subiksha Selvarajan
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Loïc Michel
Journal articles
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Modeling and control of overhead cranes: a tutorial overview and perspectives
Mohammad Rasool Mojallizadeh
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Bernard Brogliato
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Christophe Prieur
Journal articles
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Dissipative dynamical systems with set-valued feedback loops Well-posed set-valued Lur'e dynamical systems
Bernard Brogliato
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Implicit Implementation of Nonsmooth Controllers to Nonsmooth Actuators
Ryo Kikuuwe
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Yuki Yamamoto
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Bernard Brogliato
Journal articles
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Analysis of the implicit Euler time-discretization of semi-explicit differential-algebraic linear complementarity systems
Bernard Brogliato
Journal articles
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Approximate coefficient of restitution for nonlinear viscoelastic contact with external load
Abhishek Chatterjee
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Guillaume James
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Bernard Brogliato
Journal articles
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Modeling, analysis and control of robot-object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives
Bernard Brogliato
Journal articles
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Analysis of the implicit Euler time-discretization of passive linear descriptor complementarity systems
Bernard Brogliato
,
Alexandre Rocca
Journal articles
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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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Upgrading a linear controller to a sliding mode one: Theory and experiments
Gabriele Perozzi
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Andrey Polyakov
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Felix Miranda-Villatoro
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Bernard Brogliato
Journal articles
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Digital implementation of sliding-mode control via the implicit method: A tutorial
Bernard Brogliato
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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
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Bernard Brogliato
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Vincent Acary
International Journal of Robust and Nonlinear Control, 2021, 31 (16), pp.7679-7723. ⟨10.1002/rnc.5710⟩
Journal articles
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Kuwabara-Kono numerical dissipation: a new method to simulate granular matter
Guillaume James
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Kirill Vorotnikov
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Bernard Brogliato
Journal articles
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Lyapunov stability analysis of the implicit discrete-time twisting control algorithm
Olivier Huber
,
Vincent Acary
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Bernard Brogliato
Journal articles
hal-01622092v2
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Dynamical systems coupled with monotone set-valued operators: Formalisms, applications, well-posedness, and stability
Bernard Brogliato
,
Aneel Tanwani
Journal articles
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Quadratic Optimal Control of Linear Complementarity Systems: First order necessary conditions and numerical analysis
Alexandre Vieira
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Bernard Brogliato
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Christophe Prieur
Journal articles
hal-01690400v3
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The implicit discretization of the super-twisting sliding-mode control algorithm
Bernard Brogliato
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Andrey Polyakov
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Denis Efimov
Journal articles
hal-02336599v1
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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
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József Kövecses
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Vincent Acary
Journal articles
hal-02315547v1
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A direct proof of the equivalence of side conditions for strictly positive real matrix transfer functions
Augusto Ferrante
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Alexander Lanzon
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Bernard Brogliato
Journal articles
hal-01947938v1
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Consistent Discretization of Finite-time and Fixed-time Stable Systems
Andrey Polyakov
,
Denis Efimov
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Bernard Brogliato
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
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Bernard Brogliato
Journal articles
hal-01944920v2
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Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial
Bernard Brogliato
Journal articles
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Set-valued sliding-mode control of uncertain linear systems: continuous and discrete-time analysis
Felix Miranda-Villatoro
,
Bernard Brogliato
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Fernando Castaños
Journal articles
hal-01317948v1
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Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation
Narendra Akhadkar
,
Vincent Acary
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Bernard Brogliato
Journal articles
hal-01562703v1
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Well-Posedness and Output Regulation for Implicit Time-Varying Evolution Variational Inequalities
Aneel Tanwani
,
Bernard Brogliato
,
Christophe Prieur
Journal articles
hal-01360325v2
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Non-autonomous higher-order Moreau's sweeping process: Well-posedness, stability and Zeno trajectories
Bernard Brogliato
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
Journal articles
hal-01927000v1
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A New Representation of Systems with Frictional Unilateral Constraints and Its Baumgarte-Like Relaxation
Ryo Kikuuwe
,
Bernard Brogliato
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
Journal articles
hal-01254303v1
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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
Journal articles
hal-01562700v2
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Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances
Narendra Akhadkar
,
Vincent Acary
,
Bernard Brogliato
Journal articles
hal-01218531v1
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Comments on "Chattering-free digital sliding-mode control with state observer anddisturbance rejection''
Vincent Acary
,
Bernard Brogliato
,
Yuri Orlov
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
Journal articles
hal-01113344v3
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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
Journal articles
hal-01096394v2
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Implicit discrete-time twisting controller without numerical chattering: analysis and experimental results
Olivier Huber
,
Vincent Acary
,
Bernard Brogliato
,
Franck Plestan
Journal articles
hal-01235899v1
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Lyapunov stability and performance analysis of the implicit discrete sliding mode control
Olivier Huber
,
Vincent Acary
,
Bernard Brogliato
Journal articles
hal-01236159v1
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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
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
Journal articles
hal-01088286v1
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Asymptotic analysis of Painlevé' s paradox
Zhen Zhao
,
Caishan Liu
,
Chen Bin
,
Bernard Brogliato
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
Journal articles
hal-01074144v1
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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
Journal articles
hal-01629038v2
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Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction
Bernard Brogliato
Journal articles
hal-01088288v1
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Numerical simulation of piecewise-linear models of gene regulatory networks using complementarity systems
Vincent Acary
,
Hidde de Jong
,
Bernard Brogliato
Journal articles
hal-00924044v1
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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
Journal articles
hal-01083629v1
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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
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
Journal articles
hal-00807807v1
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Inertial couplings between unilateral and bilateral holonomic constraints in frictionless Lagrangian systems
Bernard Brogliato
Journal articles
hal-00825581v1
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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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Study of the Planar Rocking-Block Dynamics With Coulomb Friction: Critical Kinetic Angles
Hongjian Zhang
,
Bernard Brogliato
,
Caishan Liu
Journal articles
hal-00825590v1
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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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Switching, relay and complementarity systems: A tutorial on their well-posedness and relationships
Carmina Georgescu
,
Bernard Brogliato
,
Vincent Acary
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
Journal articles
hal-00825573v1
|
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Chattering-Free Digital Sliding-Mode Control with State Observer and Disturbance Rejection
Vincent Acary
,
Bernard Brogliato
,
Yuri V Orlov
Journal articles
inria-00580713v1
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Shock dynamics in granular chains: numerical simulations and comparison with experimental tests
Son Nguyen Ngoc
,
Bernard Brogliato
Journal articles
hal-00825561v1
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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
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
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
Journal articles
inria-00423550v1
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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
Journal articles
hal-00755991v1
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Trajectory Tracking Control of Multiconstraint Complementarity Lagrangian Systems
Irinel-Constantin Morarescu
,
Bernard Brogliato
Journal articles
hal-00756307v1
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Implicit Euler numerical scheme and chattering-free implementation of sliding mode systems
Vincent Acary
,
Bernard Brogliato
Journal articles
inria-00423576v1
|
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Some results on optimal control with unilateral state constraints
Bernard Brogliato
Journal articles
hal-01633237v1
|
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Observer Design for Lur'e Systems With Multivalued Mappings: A Passivity Approach
Bernard Brogliato
,
Maurice Heemels
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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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
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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Higher order Moreau's sweeping process: Mathematical formulation and numerical simulation
Vincent Acary
,
Bernard Brogliato
,
Daniel Goeleven
Journal articles
inria-00423566v1
|
|
Energy dissipation and dispersion effects in granular media
Zhen Zhao
,
Caishan Liu
,
Bernard Brogliato
Journal articles
hal-01633231v1
|
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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
Journal articles
hal-00450964v2
|
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Comments on "Control of a Planar Underactuated Biped on a Complete Walking Cycle"
Bernard Brogliato
Journal articles
hal-01633240v1
|
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On the controllability of linear juggling mechanical systems
Bernard Brogliato
,
Mongi Mabrouk
,
Arturo Zavala-Rio
Journal articles
hal-02303983v1
|
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On the equivalence between complementarity systems, projected systems and differential inclusions
Bernard Brogliato
,
Aris Daniilidis
,
Claude Lemarechal
,
Vincent Acary
Journal articles
inria-00423552v1
|
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Some perspectives on the analysis and control of complementarity systems
Bernard Brogliato
Journal articles
hal-01660014v1
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Periodic motion and bifurcations induced by the Painlevé paradox
Remco Leine
,
Bernard Brogliato
,
Henk Nijmeijer
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
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
Journal articles
hal-02280051v1
|
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On the control of complementary-slackness juggling mechanical systems
Bernard Brogliato
,
Arturo Zavala Rio
Journal articles
hal-02303804v1
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On tracking control of a class of complementary-slackness hybrid mechanical systems
Bernard Brogliato
,
Silviu-Iulian Niculescu
,
M. Monteiro-Marques
Journal articles
hal-02299338v1
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On the Control of a One Degree-of-Freedom Juggling Robot
Bernard Brogliato
,
Arturo Zavala-Río
Journal articles
hal-02303974v1
|
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Force Measurement Time-Delays and Contact Instability Phenomenon
S.-I. Niculescu
,
Bernard Brogliato
Journal articles
hal-02296042v1
|
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Discussion on 'Force measurement time-delays and contact instability phenomenon' by S.-I. Niculescu and B. Brogliato
A Tornambe
,
Silviu-Iulian Niculescu
,
Bernard Brogliato
Journal articles
hal-02301832v1
|
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Contact Stability Analysis of a One Degree-of-Freedom Robot
Bernard Brogliato
,
P. Orhant
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
Journal articles
hal-02301675v1
|
|
Correction to "Adaptive control of flexible joint manipulators"
Bernard Brogliato
,
Rogelio Lozano
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
Journal articles
hal-03592572v1
|
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Adaptive Control of Robot Manipulators with Flexible Joints
Rogelio Lozano
,
Bernard Brogliato
Journal articles
hal-03592568v1
|
|
Passivity and global stabilization of cascaded nonlinear systems
Rogelio Lozano
,
Bernard Brogliato
,
Ioan Doré Landau
Journal articles
hal-03609615v1
|
|
Adaptive hybrid force-position control for redundant manipulators
Rogelio Lozano
,
Bernard Brogliato
Journal articles
hal-03592573v1
|
|
Adaptive motion control of robot manipulators: A unified approach based on passivity
Bernard Brogliato
,
Ioan Doré Landau
,
Rogelio Lozano-Leal
Journal articles
hal-03611279v1
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