22 citations · 57 across the 7 of their papers we have counts for
8 papers
Finite-time stabilization of an overhead crane with a flexible cable submitted to an affine tension
Marc Wijnand, Brigitte d'Andréa-Novel, Lionel Rosier
The paper is concerned with the finite-time stabilization of a hybrid PDE-ODE system describing the motion of an overhead crane with a flexible cable. The dynamics of the flexible…
Small-time stabilization of nonholonomic or underactuated mechanical systems: the unicycle and the slider examples
Brigitte d'Andréa-Novel, Jean-Michel Coron, Wilfrid Perruquetti
This paper concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of at least continuous state feedback laws. This is the c…
Guaranteeing Consistency in a Motion Planning and Control Architecture Using a Kinematic Bicycle Model
Philip Polack, Florent Altché, Brigitte d'Andréa-Novel +1
This paper proposes to combine a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) cont…
An efficient model-free setting for longitudinal and lateral vehicle control. Validation through the interconnected pro-SiVIC/RTMaps prototyping platform
Lghani Menhour, Brigitte d'Andréa-Novel, Michel Fliess +2
In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even…
Finite-Time Stabilization of Longitudinal Control for Autonomous Vehicles via a Model-Free Approach
Philip Polack, Brigitte d'Andréa-Novel, Michel Fliess +2
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the pr…
Some remarks on wheeled autonomous vehicles and the evolution of their control design
Brigitte d'Andréa-Novel, Lghani Menhour, Michel Fliess +1
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It…
A new model-free design for vehicle control and its validation through an advanced simulation platform
Lghani Menhour, Brigitte D'Andréa-Novel, Michel Fliess +2
A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been dev…
A mathematical explanation via "intelligent" PID controllers of the strange ubiquity of PIDs
Brigitte D'Andrea Novel, Michel Fliess, Cédric Join +2
The ubiquity of PID controllers in the industry has remained mysterious until now. We provide here a mathematical explanation of this strange phenomenon by comparing their sampling…