A Low Energy FPGA Platform for Real-Time Event-Based Control

We present a wireless sensor node suitable for event-based real-time control networks. The node achieves low-power operation thanks to tight clock synchronisation with the network master (at present we refer to a star network but extensions are envisaged). Also, the node does not employ any programmable device but rather an FPGA, thus being inherently immune to attacks based on code tampering. Experimental results on a simple laboratory apparatus are presented

Fractional Order Fault Tolerant Control - A Survey

In this paper, a comprehensive review of recent advances and trends regarding Fractional Order Fault Tolerant Control (FOFTC) design is presented. This novel robust control approach has been emerging in the last decade and is still gathering great research efforts mainly because of its promising results and outcomes. The purpose of this study is to provide a useful overview for researchers interested in developing this interesting solution for plants that are subject to faults and disturbances with an obligation for a maintained performance level. Throughout the paper, the various works related to FOFTC in literature are categorized first by considering their research objective between fault detection with diagnosis and fault tolerance with accommodation, and second by considering the nature of the studied plants depending on whether they are modelized by integer order or fractional order models. One of the main drawbacks of these approaches lies in the increase in complexity associated with introducing the fractional operators, their approximation and especially during the stability analysis. A discussion on the main disadvantages and challenges that face this novel fractional order robust control research field is given in conjunction with motivations for its future development. This study provides a simulation example for the application of a FOFTC against actuator faults in a Boeing 747 civil transport aircraft is provided to illustrate the efficiency of such robust control strategies

Guaranteed Performance of Nonlinear Pose Filter on SE(3)

This paper presents a novel nonlinear pose filter evolved directly on the Special Euclidean Group SE(3) with guaranteed characteristics of transient and steady-state performance. The above-mention characteristics can be achieved by trapping the position error and the error of the normalized Euclidean distance of the attitude in a given large set and guiding them to converge systematically to a small given set. The error vector is proven to approach the origin asymptotically from almost any initial condition. The proposed filter is able to provide a reliable pose estimate with remarkable convergence properties such that it can be fitted with measurements obtained from low-cost measurement units. Simulation results demonstrate high convergence capabilities and robustness considering large error in initialization and high level of uncertainties in measurements. Keywords: Pose, estimator, observer, attitude, position, estimate, special orthogonal group, special Euclidean group, prescribed performance, steady-state, transient response, homogeneous transformation matrix, complimentary filter, mapping, Parameterization, Representation, Robust, stability, uncertain, Gaussian, noise, vectorial measurement, vector measurement, translational velocity, angular velocity, singular value decomposition, rotational matrix, identity, deterministic, comparison, inertial frame, rigid body, three dimensional, 3D, space, Lie group, projection, landmark, feature, gyroscope, micro electromechanical systems, Inertial measurement units, sensor, IMUs, Fixed, moving, orientation, Roll, Pitch, Yaw, SVD, UAVs, QUAV, unmanned, underwater vehicle, robot, robotic System, spacecraft, quadrotor, quadcopter, overview, autonomous, xyz, axis, SO(3), SE(3).Comment: 2019 American Control Conference (ACC

Guaranteed Performance of Nonlinear Pose Filter on SE(3)

This paper presents a novel nonlinear pose filter evolved directly on the Special Euclidean Group SE(3) with guaranteed characteristics of transient and steady-state performance. The above-mention characteristics can be achieved by trapping the position error and the error of the normalized Euclidean distance of the attitude in a given large set and guiding them to converge systematically to a small given set. The error vector is proven to approach the origin asymptotically from almost any initial condition. The proposed filter is able to provide a reliable pose estimate with remarkable convergence properties such that it can be fitted with measurements obtained from low-cost measurement units. Simulation results demonstrate high convergence capabilities and robustness considering large error in initialization and high level of uncertainties in measurements. Keywords: Pose, estimator, observer, attitude, position, estimate, special orthogonal group, special Euclidean group, prescribed performance, steady-state, transient response, homogeneous transformation matrix, complimentary filter, mapping, Parameterization, Representation, Robust, stability, uncertain, Gaussian, noise, vectorial measurement, vector measurement, translational velocity, angular velocity, singular value decomposition, rotational matrix, identity, deterministic, comparison, inertial frame, rigid body, three dimensional, 3D, space, Lie group, projection, landmark, feature, gyroscope, micro electromechanical systems, Inertial measurement units, sensor, IMUs, Fixed, moving, orientation, Roll, Pitch, Yaw, SVD, UAVs, QUAV, unmanned, underwater vehicle, robot, robotic System, spacecraft, quadrotor, quadcopter, overview, autonomous, xyz, axis, SO(3), SE(3).Comment: 2019 American Control Conference (ACC

A stability-theory perspective to synchronisation of heterogeneous networks

Dans ce mémoire, nous faisons une présentation de nos recherches dans le domaine de la synchronisation des systèmes dynamiques interconnectés en réseau. Une des originalités de nos travaux est qu'ils portent sur les réseaux hétérogènes, c'est à dire, des systèmes à dynamiques diverses. Au centre du cadre d'analyse que nous proposons, nous introduisons le concept de dynamique émergente. Il s'agit d'une dynamique "moyennée'' propre au réseau lui-même. Sous l'hypothèse qu'il existe un attracteur pour cette dynamique, nous montrons que le problème de synchronisation se divise en deux problèmes duaux : la stabilité de l'attracteur et la convergence des trajectoires de chaque système vers celles générées par la dynamique émergente. Nous étudions aussi le cas particulier des oscillateurs de Stuart-Landau