Bernard Brogliato Directeur de Recherche INRIA

Publications

Article dans une revue (104)

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
Backstepping passivity-based trajectory tracking control of frictional oscillators: continuous and discrete time analyses Bernard Brogliato,Félix Miranda-Villatoro,Aya Younes Automatica, 2026, 188, pp.112944. ⟨10.1016/j.automatica.2026.112944⟩ Article dans une revue hal-04842497v1
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
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
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
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
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
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
Correction to &quot;Analysis of the Implicit Euler Time-Discretization of a Class of Descriptor-Variable Linear Cone Complementarity Systems&quot;, 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
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
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 Michelet al. Control Engineering Practice, 2023, 136 (105546), pp.1-23. ⟨10.1016/j.conengprac.2023.105546⟩ Article dans une revue hal-04534678v3
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
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
Comments on &quot;Finite-time stability of discrete autonomous systems&quot; [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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Comments on &quot;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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Review of &quot;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
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
Comments on &quot;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
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
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
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
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
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
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
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
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
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
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
Contact Stability Analysis of a One Degree-of-Freedom Robot Bernard Brogliato,Pascal Orhant Dynamics and Control, 1998, 8 (1), pp.37-53. ⟨10.1023/A:1008226913003⟩ Article dans une revue istex hal-02279953v1
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
Correction to &quot;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
Passive least‐squares‐type estimation algorithm for direct adaptive control Bernard Brogliato,Rogelio Lozano International Journal of Adaptive Control and Signal Processing, 1992, 6 (1), pp.35-44. ⟨10.1002/acs.4480060104⟩ Article dans une revue istex hal-05555442v1
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
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
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
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
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

Ouvrages (8)

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
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
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

Chapitre d'ouvrage (4)

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
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
Experimental results on implicit and explicit time-discretization of equivalent-control-based sliding-mode control Olivier Huber,Bernard Brogliato,Vincent Acary,Ahcene Boubakir,Franck Plestanet 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
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

Pré-publication, Document de travail (8)

Discrete-time multivariable twisting control with digital chattering suppression and improved precision Félix Miranda-Villatoro,Fernando Castaños,Bernard Brogliato 2026 Pré-publication, Document de travail hal-05569438v1
Robust synchronization of heterogeneous networks of nonlinear time-varying dynamical systems using set-valued linear complementarity couplings Quang Hung Pham,Félix Miranda-Villatoro,Bernard Brogliato 2025 Pré-publication, Document de travail hal-05235089v1
State Jumps Analysis in Differential Algebraic Linear Complementarity Systems Bernard Brogliato 2025 Pré-publication, Document de travail hal-05430065v1
Comments on &quot;Finite-time stability of discrete autonomous systems&quot; [Automatica 122 (2020) 109282] Bernard Brogliato,Félix Miranda-Villatoro 2022 Pré-publication, Document de travail hal-04041107v1
Dissipative Systems Analysis and Control. Theory and Applications: Erratum/Addendum. Springer Nature Switzerland AG, Communications and Control Engineering, Third uncorrected Edition, 2020 Bernard Brogliato 2022 Pré-publication, Document de travail hal-03364924v3
Addendum-Erratum to Nonsmooth Modeling and Simulation for Switched Circuits Bernard Brogliato 2022 Pré-publication, Document de travail hal-01311078v2
On the well-posedness and solvability of Lur'e quasi-variational inequalities Le Ba Khiet,Bernard Brogliato 2021 Pré-publication, Document de travail hal-03425680v1
On Consistent Discretization of Finite-time Stable Homogeneous Differential Inclusions Andrey Polyakov,Bernard Brogliato 2020 Pré-publication, Document de travail hal-02514847v1

Rapport (40)

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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Observer design for dissipative multivalued dynamical systems Bernard Brogliato,W.P. Maurice H. Heemels [Research Report] 2007 Rapport (rapport de recherche) inria-00139576v2
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
Some results on the optimal control with unilateral state constraints Bernard Brogliato [Research Report] RR-5992, INRIA. 2006 Rapport (rapport de recherche) inria-00103775v2
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
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
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
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
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
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
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
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
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
Some results on the controllability of planar variational inequalities Bernard Brogliato RR-4788, INRIA. 2003 Rapport inria-00071798v1
Absolute stability and the Lagrange-Dirichlet theorem with monotone multivalued mappings Bernard Brogliato RR-4794, INRIA. 2003 Rapport inria-00071792v1
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
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
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
New Results on Painlevé Paradoxes Frank Génot,Bernard Brogliato RR-3366, INRIA. 1998 Rapport inria-00073323v1