Laurent Burlion - Academia.edu (original) (raw)
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Papers by Laurent Burlion
IEEE Transactions on Aerospace and Electronic Systems, 2015
IEEE Transactions on Automatic Control, 2015
In this article, the case is considered where a regulated output of an uncertain system with unkn... more In this article, the case is considered where a regulated output of an uncertain system with unknown disturbance input is constrained to lie between two specified timevarying bounds. It is supposed a controller has already been designed using any desired technique. This controller may not satisfy expected output constraints. The objective is to design saturations on the control signal so that the closed-loop is altered only when those specifications are not met. The theory is presented in the linear case with linear dependence on an unknown disturbance. Application to an uncertain launcher linear model with unknown wind disturbance is presented.
International Federation of Automatic Ccontrol Papersonline, 2014
ABSTRACT This paper discusses the design and validation of an integrated long range flexible airc... more ABSTRACT This paper discusses the design and validation of an integrated long range flexible aircraft load controller, at a single flight/mass configuration. The contributions of the paper are in twofold: (i) first, a very recent frequency-limited model approximation technique is used to reduce the large-scale aeroservoelastic aircraft model over a finite frequency support while guaranteeing optimal mismatch error, secondly, (ii) a structured controller is designed using an H1-objective and coupled with an output saturation strategy to achieve flight performance and load clearance, i.e. wing root bending moment saturation. The entire procedure - i.e. approximation and control - is finally assessed on the high fidelity large-scale aircraft model, illustrating the effectiveness of the procedure on a complex model, used in the industrial context in the control laws validation process.
2015 European Control Conference (ECC), 2015
2015 European Control Conference (ECC), 2015
In this article, the case is considered where a regulated output of an uncertain system with unkn... more In this article, the case is considered where a regulated output of an uncertain system with unknown disturbance input is constrained to lie between two specified timevarying bounds. It is supposed a controller has already been designed using any desired technique. This controller may not satisfy expected output constraints. The objective is to design saturations on the control signal so that the closed-loop is altered only when those specifications are not met. The theory is presented in the linear case with linear dependence on an unknown disturbance. Application to an uncertain launcher linear model with unknown wind disturbance is presented.
2015 European Control Conference (ECC), 2015
2015 Proceedings of the Conference on Control and its Applications, 2015
The paper deals with the design of cooperative systems which formulates as computing a state coor... more The paper deals with the design of cooperative systems which formulates as computing a state coordinate transform such that the resulting dynamics are both stable and cooperative. The design of cooperative systems is a key problem to determine interval observers. Solutions are provided in the literature to transform any system into a cooperative system. A novel approach is proposed which reformulates into a stabilization problem. A solution is found using nonsmooth optimization techniques.
A sub-optimal guidance and nonlinear control scheme based on Optic Flow (OF) cues ensuring soft l... more A sub-optimal guidance and nonlinear control scheme based on Optic Flow (OF) cues ensuring soft lunar landing using two minimalistic bio-inspired visual motion sensors is presented here. Unlike most previous approaches, which rely on state estimation techniques and multiple sensor fusion methods, the guidance and control strategy presented here is based on the sole knowledge of a minimum sensor suite (including OF sensors and an IMU). Two different tasks are addressed in this paper: the first one focuses on the computation of an optimal trajectory and the associated control sequences, and the second one focuses on the design and theoretical stability analysis of the closed loop using only OF and IMU measurements as feedback information. Simulations performed on a lunar landing scenario confirm the excellent performances and the robustness to initial uncertainties of the present guidance and control strategy.
Backup solution in case of main sensors failure, • Only lightweight, small size and low consumpti... more Backup solution in case of main sensors failure, • Only lightweight, small size and low consumption optic flow sensors required,
Proceedings of the 19th IFAC World Congress, 2014
11th IFAC International Workshop on Adaptation and Learning in Control and Signal Processing, 2013, 2013
La conception d'observateurs par intervalles repose sur la possibilité de rendre un système c... more La conception d'observateurs par intervalles repose sur la possibilité de rendre un système coopératif. Dans le cas linéaire, un système coopératif est un système dont la matrice d'état est à coefficients hors-diagonaux positifs. La littérature propose un certain nombre de méthodes pour concevoir des observateurs par intervalles sur des systèmes non coopératifs. Ces méthodes sont basées sur des changements de variables, le système étudié devenant coopératif dans les nouvelles coordonnées. Dans cet article, une méthode complémentaire au formalisme existant est présentée qui permet la détermination numérique de cette transformation sans hypothèse préalable. Elle repose sur une reformulation en problème de synthèse de loi de commande sur une collection de modèles. Le problème équivalent est alors résolu en faisant appel à une technique d'optimisation non lisse conçue pour ce type de problème de synthèse. L'approche est testée sur deux exemples extraits de la littérature.
The paper deals with the design of cooperative observers which formulates as computing a state co... more The paper deals with the design of cooperative observers which formulates as computing a state coordinate transform such that the resulting observer dynamics are both stable and cooperative. The design of cooperative observers is a key problem to determine interval observers. Solutions are provided in the literature to transform any system into a cooperative system. A novel approach is proposed which reformulates into a stabilization problem. A solution is found using nonsmooth optimization techniques.
Advances in Aerospace Guidance, Navigation and Control, 2015
Control of a flexible launch vehicle in the atmospheric ascent phase is highly challenging as it ... more Control of a flexible launch vehicle in the atmospheric ascent phase is highly challenging as it involves multiple concurrent design requirements. This ranges from reduction of the angle of attack in face of wind, minimum gain-phase and parametric margins as well as flexible modes attenuation. In this work, we discuss recently available non-smooth optimization techniques as a central tool to solve this problem. We consider designing an observer-based controller based on a Kalman filter suitably augmented with Dryden wind dynamics. We suggest a nonconservative approach to handle model uncertainties based upon multiple models of the launcher. This preliminary work aims at testing the potential of non-smooth controller tuning on a generic launcher model. It will serve as a stepping stone for a more in-depth study of the benchmark developed by M. Ganet at Airbus Defence and Space.
IEEE Conference on Decision and Control and European Control Conference, 2011
Recently, new results about semi-global and global finite-time observation have been obtained by ... more Recently, new results about semi-global and global finite-time observation have been obtained by the use of continuous high gain observers. In this paper, we propose to extend these results by studying "time-varying high gain" observers and by providing new update laws : first, we adapt the law introduced by L. Praly in the case of asymptotic observation to the finite-time case and we prove that the updated high gain remains bounded. Secondly, we propose a new update law which guarantees the high gain's value tends asymptotically to 1.
Nonlinear Analysis: Theory, Methods & Applications, 2006
In this paper, we propose new conditions for guaranteeing the stability of nonlinear sampled data... more In this paper, we propose new conditions for guaranteeing the stability of nonlinear sampled data systems. In order to do this, we extend Lyapunov theory to this class of systems.
Proceedings of the 16th IFAC World Congress, 2005, 2005
In this paper, we use viability tools to design Lyapunov functions for nonlinear state-dependent ... more In this paper, we use viability tools to design Lyapunov functions for nonlinear state-dependent impulsive dynamical systems : the main idea is to partition the continuous state space . The approach enables to address fundamental issues in Hybrid systems such as accessibility and controllability.
IEEE Transactions on Aerospace and Electronic Systems, 2015
IEEE Transactions on Automatic Control, 2015
In this article, the case is considered where a regulated output of an uncertain system with unkn... more In this article, the case is considered where a regulated output of an uncertain system with unknown disturbance input is constrained to lie between two specified timevarying bounds. It is supposed a controller has already been designed using any desired technique. This controller may not satisfy expected output constraints. The objective is to design saturations on the control signal so that the closed-loop is altered only when those specifications are not met. The theory is presented in the linear case with linear dependence on an unknown disturbance. Application to an uncertain launcher linear model with unknown wind disturbance is presented.
International Federation of Automatic Ccontrol Papersonline, 2014
ABSTRACT This paper discusses the design and validation of an integrated long range flexible airc... more ABSTRACT This paper discusses the design and validation of an integrated long range flexible aircraft load controller, at a single flight/mass configuration. The contributions of the paper are in twofold: (i) first, a very recent frequency-limited model approximation technique is used to reduce the large-scale aeroservoelastic aircraft model over a finite frequency support while guaranteeing optimal mismatch error, secondly, (ii) a structured controller is designed using an H1-objective and coupled with an output saturation strategy to achieve flight performance and load clearance, i.e. wing root bending moment saturation. The entire procedure - i.e. approximation and control - is finally assessed on the high fidelity large-scale aircraft model, illustrating the effectiveness of the procedure on a complex model, used in the industrial context in the control laws validation process.
2015 European Control Conference (ECC), 2015
2015 European Control Conference (ECC), 2015
In this article, the case is considered where a regulated output of an uncertain system with unkn... more In this article, the case is considered where a regulated output of an uncertain system with unknown disturbance input is constrained to lie between two specified timevarying bounds. It is supposed a controller has already been designed using any desired technique. This controller may not satisfy expected output constraints. The objective is to design saturations on the control signal so that the closed-loop is altered only when those specifications are not met. The theory is presented in the linear case with linear dependence on an unknown disturbance. Application to an uncertain launcher linear model with unknown wind disturbance is presented.
2015 European Control Conference (ECC), 2015
2015 Proceedings of the Conference on Control and its Applications, 2015
The paper deals with the design of cooperative systems which formulates as computing a state coor... more The paper deals with the design of cooperative systems which formulates as computing a state coordinate transform such that the resulting dynamics are both stable and cooperative. The design of cooperative systems is a key problem to determine interval observers. Solutions are provided in the literature to transform any system into a cooperative system. A novel approach is proposed which reformulates into a stabilization problem. A solution is found using nonsmooth optimization techniques.
A sub-optimal guidance and nonlinear control scheme based on Optic Flow (OF) cues ensuring soft l... more A sub-optimal guidance and nonlinear control scheme based on Optic Flow (OF) cues ensuring soft lunar landing using two minimalistic bio-inspired visual motion sensors is presented here. Unlike most previous approaches, which rely on state estimation techniques and multiple sensor fusion methods, the guidance and control strategy presented here is based on the sole knowledge of a minimum sensor suite (including OF sensors and an IMU). Two different tasks are addressed in this paper: the first one focuses on the computation of an optimal trajectory and the associated control sequences, and the second one focuses on the design and theoretical stability analysis of the closed loop using only OF and IMU measurements as feedback information. Simulations performed on a lunar landing scenario confirm the excellent performances and the robustness to initial uncertainties of the present guidance and control strategy.
Backup solution in case of main sensors failure, • Only lightweight, small size and low consumpti... more Backup solution in case of main sensors failure, • Only lightweight, small size and low consumption optic flow sensors required,
Proceedings of the 19th IFAC World Congress, 2014
11th IFAC International Workshop on Adaptation and Learning in Control and Signal Processing, 2013, 2013
La conception d'observateurs par intervalles repose sur la possibilité de rendre un système c... more La conception d'observateurs par intervalles repose sur la possibilité de rendre un système coopératif. Dans le cas linéaire, un système coopératif est un système dont la matrice d'état est à coefficients hors-diagonaux positifs. La littérature propose un certain nombre de méthodes pour concevoir des observateurs par intervalles sur des systèmes non coopératifs. Ces méthodes sont basées sur des changements de variables, le système étudié devenant coopératif dans les nouvelles coordonnées. Dans cet article, une méthode complémentaire au formalisme existant est présentée qui permet la détermination numérique de cette transformation sans hypothèse préalable. Elle repose sur une reformulation en problème de synthèse de loi de commande sur une collection de modèles. Le problème équivalent est alors résolu en faisant appel à une technique d'optimisation non lisse conçue pour ce type de problème de synthèse. L'approche est testée sur deux exemples extraits de la littérature.
The paper deals with the design of cooperative observers which formulates as computing a state co... more The paper deals with the design of cooperative observers which formulates as computing a state coordinate transform such that the resulting observer dynamics are both stable and cooperative. The design of cooperative observers is a key problem to determine interval observers. Solutions are provided in the literature to transform any system into a cooperative system. A novel approach is proposed which reformulates into a stabilization problem. A solution is found using nonsmooth optimization techniques.
Advances in Aerospace Guidance, Navigation and Control, 2015
Control of a flexible launch vehicle in the atmospheric ascent phase is highly challenging as it ... more Control of a flexible launch vehicle in the atmospheric ascent phase is highly challenging as it involves multiple concurrent design requirements. This ranges from reduction of the angle of attack in face of wind, minimum gain-phase and parametric margins as well as flexible modes attenuation. In this work, we discuss recently available non-smooth optimization techniques as a central tool to solve this problem. We consider designing an observer-based controller based on a Kalman filter suitably augmented with Dryden wind dynamics. We suggest a nonconservative approach to handle model uncertainties based upon multiple models of the launcher. This preliminary work aims at testing the potential of non-smooth controller tuning on a generic launcher model. It will serve as a stepping stone for a more in-depth study of the benchmark developed by M. Ganet at Airbus Defence and Space.
IEEE Conference on Decision and Control and European Control Conference, 2011
Recently, new results about semi-global and global finite-time observation have been obtained by ... more Recently, new results about semi-global and global finite-time observation have been obtained by the use of continuous high gain observers. In this paper, we propose to extend these results by studying "time-varying high gain" observers and by providing new update laws : first, we adapt the law introduced by L. Praly in the case of asymptotic observation to the finite-time case and we prove that the updated high gain remains bounded. Secondly, we propose a new update law which guarantees the high gain's value tends asymptotically to 1.
Nonlinear Analysis: Theory, Methods & Applications, 2006
In this paper, we propose new conditions for guaranteeing the stability of nonlinear sampled data... more In this paper, we propose new conditions for guaranteeing the stability of nonlinear sampled data systems. In order to do this, we extend Lyapunov theory to this class of systems.
Proceedings of the 16th IFAC World Congress, 2005, 2005
In this paper, we use viability tools to design Lyapunov functions for nonlinear state-dependent ... more In this paper, we use viability tools to design Lyapunov functions for nonlinear state-dependent impulsive dynamical systems : the main idea is to partition the continuous state space . The approach enables to address fundamental issues in Hybrid systems such as accessibility and controllability.