Bernard Brogliato

Directeur de Recherche INRIA
162
Documents

Domaines de recherche

Optimisation et contrôle [math.OC]

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Publications

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Passivity Preservation in Interconnections of Linear Cone Complementarity Systems with State Jumps

Bernard Brogliato , Aneel Tanwani

Nonlinear Analysis: Hybrid Systems, 2026, 60, pp.101682. ⟨10.1016/j.nahs.2026.101682⟩

Article dans une revue hal-04137144v5
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Backstepping passivity-based trajectory tracking control of frictional oscillators: continuous and discrete time analyses

Bernard Brogliato , Félix Miranda-Villatoro , Aya Younes

Automatica, 2026

Article dans une revue hal-04842497v1
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Passivity-based Trajectory Tracking Control in Frictional Oscillators with Set-valued Friction

Aya Younes , Félix Miranda-Villatoro , Bernard Brogliato

Nonlinear Analysis: Hybrid Systems, 2026, 60, pp.article 101672. ⟨10.1016/j.nahs.2025.101672⟩

Article dans une revue hal-04810905v2
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Multivalued Hamiltonian Systems with Sliding Motions: Analysis of the Backward-Euler Discretisation

Fernando Castaños , Felix A Miranda-Villatoro , Bernard Brogliato

Automatica, 2025, 182, pp.112567. ⟨10.1016/j.automatica.2025.112567⟩

Article dans une revue hal-04625231v2
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An Optimization point of view of discrete-time sliding modes: When proximal-point algorithms meet set-valued systems.

Félix Miranda-Villatoro , Fernando Castanos , Bernard Brogliato

IEEE Control Systems, 2025, 45 (5), pp.47-94. ⟨10.1109/MCS.2025.3587510⟩

Article dans une revue hal-04626631v2
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Finite-time convergent discrete-time algorithms: from explicit to backward schemes

Félix Miranda-Villatoro , Fernando Castaños , Bernard Brogliato

Automatica, 2025, 174, pp.112080. ⟨10.1016/j.automatica.2024.112080⟩

Article dans une revue hal-04516369v2
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Well-Posedness of Passive Time-Varying Linear Cone Complementarity Systems

Quang Hung Pham , Bernard Brogliato , Félix Miranda-Villatoro

Journal of Convex Analysis, 2025, 32 (3), pp.681-722

Article dans une revue hal-04551029v3
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Trajectory tracking in linear complementarity systems with and without state jumps: A passivity approach

Aya Younes , Félix Miranda-Villatoro , Bernard Brogliato

Nonlinear Analysis: Hybrid Systems, 2024, 54, pp.101520. ⟨10.1016/j.nahs.2024.101520⟩

Article dans une revue hal-04842301v1
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Correction to "Analysis of the Implicit Euler Time-Discretization of a Class of Descriptor-Variable Linear Cone Complementarity Systems", J. Convex Analysis 29/2 (2022) 481--517

Quang-Hung Pham , Bernard Brogliato

Journal of Convex Analysis, 2024, 31 (3), pp.1035-1037

Article dans une revue hal-04704041v1
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A survey on the discrete-time differentiators in closed-loop control systems: experiments on an electro-pneumatic system

Mohammad Rasool Mojallizadeh , Bernard Brogliato , Andrey Polyakov , Sevarajan Subischa , Loïc Michel et al.

Control Engineering Practice, 2023, 136 (105546), pp.1-23. ⟨10.1016/j.conengprac.2023.105546⟩

Article dans une revue hal-04534678v3
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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, 56, pp.100877. ⟨10.1016/j.arcontrol.2023.03.002⟩

Article dans une revue (article de synthèse) hal-04010839v3
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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, 2023, 158, pp.111295. ⟨10.1016/j.automatica.2023.111295⟩

Article dans une revue hal-03427800v2
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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, 2023, 55, pp.297-337. ⟨10.1016/j.arcontrol.2022.12.002⟩

Article dans une revue (article de synthèse) hal-04344731v4
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Comments on "Finite-time stability of discrete autonomous systems" [Automatica 122 (2020) 109282]

Bernard Brogliato

Automatica, 2023, 156, pp.111206:1-3. ⟨10.1016/j.automatica.2023.111206⟩

Article dans une revue (article de synthèse) hal-04121636v1
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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⟩

Article dans une revue hal-03180790v2
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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⟩

Article dans une revue hal-03169123v3
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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⟩

Article dans une revue hal-03612804v1
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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⟩

Article dans une revue hal-03463883v1
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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⟩

Article dans une revue hal-03606276v2
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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

Article dans une revue hal-03264720v2
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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⟩

Article dans une revue hal-03293492v2
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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⟩

Article dans une revue 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⟩

Article dans une revue hal-02960923v2
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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⟩

Article dans une revue 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⟩

Article dans une revue hal-01947938v1
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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⟩

Article dans une revue 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 , Jozsef Kovecses , Vincent Acary

Multibody System Dynamics, 2020, 48 (2), pp.151-192. ⟨10.1007/s11044-019-09712-1⟩

Article dans une revue hal-04847393v1
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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⟩

Article dans une revue hal-01878973v1
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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⟩

Article dans une revue hal-01690400v3
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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⟩

Article dans une revue hal-02379498v1
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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⟩

Article dans une revue hal-01944920v2
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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⟩

Article dans une revue hal-01838712v2
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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⟩

Article dans une revue 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⟩

Article dans une revue hal-01927000v1
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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⟩

Article dans une revue hal-01499581v2
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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⟩

Article dans une revue 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⟩

Article dans une revue 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⟩

Article dans une revue hal-01360325v2
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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⟩

Article dans une revue 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

Multibody System Dynamics, 2017, 41 (3), pp.201-231. ⟨10.1007/s11044-017-9570-y⟩

Article dans une revue 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⟩

Article dans une revue hal-01235861v1
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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

Article dans une revue hal-01313222v1
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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⟩

Article dans une revue hal-01235899v1
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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⟩

Article dans une revue hal-01236159v1
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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⟩

Article dans une revue hal-01096394v2
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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⟩

Article dans une revue 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

IEEE Transactions on Automatic Control, 2016, 61 (11), pp.3707. ⟨10.1109/TAC.2015.2509445⟩

Article dans une revue 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⟩

Article dans une revue hal-01113344v3
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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⟩

Article dans une revue 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⟩

Article dans une revue hal-01088286v1
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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⟩

Article dans une revue 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⟩

Article dans une revue hal-01074144v1
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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⟩

Article dans une revue 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⟩

Article dans une revue hal-00924044v1
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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⟩

Article dans une revue hal-01088288v1
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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⟩

Article dans une revue hal-01629038v2
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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⟩

Article dans une revue istex 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

Article dans une revue 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⟩

Article dans une revue 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⟩

Article dans une revue 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⟩

Article dans une revue hal-00825581v1
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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⟩

Article dans une revue hal-00825578v1
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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⟩

Article dans une revue hal-00646982v1
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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⟩

Article dans une revue istex 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⟩

Article dans une revue inria-00580713v1
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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⟩

Article dans une revue hal-00825573v1
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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⟩

Article dans une revue 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⟩

Article dans une revue 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⟩

Article dans une revue istex hal-00756295v1
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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⟩

Article dans une revue hal-00755991v1
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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⟩

Article dans une revue inria-00423576v1
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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⟩

Article dans une revue hal-00756307v1
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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⟩

Article dans une revue 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

Article dans une revue hal-00756226v1
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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⟩

Article dans une revue hal-00755948v1
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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⟩

Article dans une revue istex hal-01633237v1
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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⟩

Article dans une revue hal-00755926v1
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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⟩

Article dans une revue hal-00756302v1
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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⟩

Article dans une revue 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⟩

Article dans une revue hal-01633231v1
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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⟩

Article dans une revue (compte-rendu de lecture) hal-00821363v1
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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⟩

Article dans une revue 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⟩

Article dans une revue istex 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⟩

Article dans une revue 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⟩

Article dans une revue 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⟩

Article dans une revue 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⟩

Article dans une revue hal-01660014v1
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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⟩

Article dans une revue hal-01349852v1
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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⟩

Article dans une revue hal-01310673v1
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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⟩

Article dans une revue istex 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⟩

Article dans une revue 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⟩

Article dans une revue istex hal-02299338v1
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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⟩

Article dans une revue istex 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⟩

Article dans une revue istex hal-02301832v1
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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⟩

Article dans une revue istex hal-02303974v1
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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⟩

Article dans une revue istex 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⟩

Article dans une revue 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⟩

Article dans une revue hal-03592564v1
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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⟩

Article dans une revue 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⟩

Article dans une revue 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⟩

Article dans une revue hal-03609615v1
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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⟩

Article dans une revue hal-03592572v1
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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⟩

Article dans une revue istex 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⟩

Ouvrages 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⟩

Ouvrages 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⟩

Ouvrages hal-00908612v1
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Multiple Impacts in Dissipative Granular Chains

Ngoc Son Nguyen , Bernard Brogliato

Springer, 72, pp.11-29, 2014, Lecture Notes in Applied and Computational Mechanics, 978-3-642-39297-9. ⟨10.1007/978-3-642-39298-6_2⟩

Ouvrages hal-01633232v1

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⟩

Ouvrages 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⟩

Ouvrages 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. ⟨10.1007/978-1-84628-517-2⟩

Ouvrages 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

Ouvrages hal-00449930v1
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Multiple-Impact Modeling in Multibody Systems

Bernard Brogliato

A.F. Vakakis; O. Gendelman. Handbook on Nonlinear Dynamics, Vibrations and Acoustics; Volume 1: Nonlinear Dynamics and Vibrations: Fundamental Concepts and Analytical Methods, World Scientific Publising, pp.1-39, 2025

Chapitre d'ouvrage hal-04673788v1
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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⟩

Chapitre d'ouvrage 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 et al.

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⟩

Chapitre d'ouvrage hal-01238120v1
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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⟩

Chapitre d'ouvrage hal-00758609v1
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Nonsmooth Mechanics. Models, Dynamics and Control : Erratum/Addendum

Bernard Brogliato

[0] INRIA Centre de l'Universite Grenoble - Alpes. 2024, pp.1-19

Rapport hal-01331565v8
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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

Rapport (rapport de recherche) hal-03674652v2
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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

Rapport (rapport de recherche) hal-03462750v1
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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

Rapport (rapport de recherche) 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

Rapport (rapport de recherche) hal-01338369v1
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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

Rapport (rapport de recherche) hal-01087400v1
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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

Rapport (rapport de recherche) hal-00790618v3
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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

Rapport (rapport de recherche) hal-00778412v1
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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

Rapport (rapport de recherche) hal-00875209v1
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Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction

Bernard Brogliato

[Research Report] RR-8158, INRIA. 2012

Rapport (rapport de recherche) hal-00762986v1
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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

Rapport (rapport de recherche) 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

Rapport (rapport de recherche) inria-00596961v1
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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

Rapport (rapport de recherche) inria-00579231v2
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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

Rapport (rapport de recherche) inria-00494417v2
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Implicit Euler numerical simulations of sliding mode systems

Vincent Acary , Bernard Brogliato

[Research Report] RR-6886, INRIA. 2009, pp.39

Rapport (rapport de recherche) inria-00374840v2
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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

Rapport (rapport de recherche) inria-00423955v1
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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

Rapport (rapport de recherche) inria-00380820v1
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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

Rapport (rapport de recherche) inria-00442081v1
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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

Rapport (rapport de recherche) 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

Rapport (rapport de recherche) 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

Rapport (rapport de recherche) inria-00337482v1
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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

Rapport (rapport de recherche) inria-00266810v2
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Observer design for dissipative multivalued dynamical systems

Bernard Brogliato , W.P. Maurice H. Heemels

[Research Report] 2007

Rapport (rapport de recherche) inria-00139576v2
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Well-posedness results for non-autonomous dissipative complementarity systems

Bernard Brogliato , Lionel Thibault

[Research Report] RR-5931, INRIA. 2006

Rapport (rapport de recherche) inria-00079220v3
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Some results on the optimal control with unilateral state constraints

Bernard Brogliato

[Research Report] RR-5992, INRIA. 2006

Rapport (rapport de recherche) inria-00103775v2
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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

Rapport (rapport de recherche) inria-00103328v2
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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

Rapport (rapport de recherche) 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

Rapport (rapport de recherche) 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

Rapport (rapport de recherche) inria-00070602v1
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Tracking Control of Complementarity Lagrangian Systems

Jean-Matthieu Bourgeot , Bernard Brogliato

[Research Report] RR-5384, INRIA. 2004, pp.51

Rapport (rapport de recherche) inria-00070619v1
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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

Rapport (rapport de recherche) inria-00071475v1
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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

Rapport (rapport de recherche) inria-00070618v1
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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

Rapport (rapport de recherche) inria-00071814v1
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Some results on the controllability of planar variational inequalities

Bernard Brogliato

RR-4788, INRIA. 2003

Rapport inria-00071798v1
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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

Rapport inria-00071746v1
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Absolute stability and the Lagrange-Dirichlet theorem with monotone multivalued mappings

Bernard Brogliato

RR-4794, INRIA. 2003

Rapport inria-00071792v1
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Stability and Unstability Matrices for Linear Evolution Variational Inequalities

Daniel Goeleven , Bernard Brogliato

[Research Report] RR-4768, INRIA. 2003

Rapport (rapport de recherche) inria-00071818v1
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Bifurcations and Periodic Motion Induced by the Painlevé Paradox

Remco Leine , Bernard Brogliato

[Research Report] RR-4322, INRIA. 2001

Rapport (rapport de recherche) inria-00072265v1
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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

Rapport (rapport de recherche) inria-00072297v1
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New Results on Painlevé Paradoxes

Frank Génot , Bernard Brogliato

RR-3366, INRIA. 1998

Rapport inria-00073323v1