Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
We consider the problem of approximately tracking a reference trajectory by means of output feedback for a class of nonlinear systems with some non-globally Lipschitz nonlinearities. We solve this...
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
We consider the problem of approximately tracking a reference trajectory by means of output feedback for a class of nonlinear systems with some non-globally Lipschitz nonlinearities. We solve this...
On the Existence of a Kazantzis-Kravaris/Luenberger Observer (2009)
Andrieu, Vincent, Praly, Laurent
We state sufficient conditions for the existence, on a given open set, of the extension, to nonlinear systems, of the Luenberger observer as it has been proposed by Kazantzis and Kravaris. We prove...
Homogeneous Approximation, Recursive Observer Design, and Output Feedback (2009)
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at...
High gain observers with updated gain and homogeneous correction terms (2009)
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
Exploiting dynamic scaling and homogeneity in the bi-limit, we develop a new class of high gain observers which incorporate a gain update law and nonlinear output error injection terms. A broader...
High gain observers with updated gain and homogeneous correction terms (2009)
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
Exploiting dynamic scaling and homogeneity in the bi-limit, we develop a new class of high gain observers which incorporate a gain update law and nonlinear output error injection terms. A broader...
High-gain observer with uniform in the initial condition finite time convergence (2009)
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
In this short note, we show how the homogeneous in the bi-limit framework introduced in our previous publication allows to obtain an observer with uniform in the initial condition finite time...
High-gain observer with uniform in the initial condition finite time convergence (2009)
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
In this short note, we show how the homogeneous in the bi-limit framework introduced in our previous publication allows to obtain an observer with uniform in the initial condition finite time...
A unifying point of view on output feedback designs for global asymptotic stabilization (2009)
Andrieu, Vincent, Praly, Laurent
The design of output feedback for ensuring global asymptotic stability is a difficult task which has attracted the attention of many researchers with very different approaches. We propose a unifying...
A unifying point of view on output feedback designs for global asymptotic stabilization (2009)
Andrieu, Vincent, Praly, Laurent
The design of output feedback for ensuring global asymptotic stability is a difficult task which has attracted the attention of many researchers with very different approaches. We propose a unifying...
On Global Output Feedback Stabilization of Uncertain Nonlinear Systems (2008)
Abstract--This paper deals with the problem of global asymptotic stabilization of nonlinear systems by means of linear, high-gain, dynamic output feedback. The contribution of this paper is to show...
An output feedback for a chain of integrator suitable for the use of dynamic scaling (2008)
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
An output feedback for a chain of integrator is given in this paper. This one is such that the closed loop system obtained is homogeneous in the bi-limit. Furthermore the associated Lyapunov function...
An output feedback for a chain of integrator suitable for the use of dynamic scaling (2008)
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
An output feedback for a chain of integrator is given in this paper. This one is such that the closed loop system obtained is homogeneous in the bi-limit. Furthermore the associated Lyapunov function...
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
The aim of this note is to give a proof of a Theorem 2 in "High-gain observers with updated high-gain and homogeneous correction terms" which will be published in Automatica.
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
The aim of this note is to give a proof of a Theorem 2 in "High-gain observers with updated high-gain and homogeneous correction terms" which will be published in Automatica.
An output feedback for a chain of integrator suitable for the use of dynamic scaling (2008)
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
An output feedback for a chain of integrator is given in this paper. This one is such that the closed loop system obtained is homogeneous in the bi-limit. Furthermore the associated Lyapunov function...
An output feedback for a chain of integrator suitable for the use of dynamic scaling (2008)
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
An output feedback for a chain of integrator is given in this paper. This one is such that the closed loop system obtained is homogeneous in the bi-limit. Furthermore the associated Lyapunov function...
Homogeneous Approximation, Recursive Observer Design, and Output Feedback (2008)
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at...
Andrieu, Vincent, Praly, Laurent
In this paper, we address the problem of global asymptotic stabilization by output feedback for nonminimum phase nonlinear systems which admit a strict normal form. We assume the knowledge of an...
Homogeneous Approximation, Recursive Observer Design, and Output Feedback (2008)
Andrieu, Vincent, Praly, Laurent, Astolfi, Alessandro
We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at...
Andrieu, Vincent, Praly, Laurent
In this paper, we address the problem of global asymptotic stabilization by output feedback for nonminimum phase nonlinear systems which admit a strict normal form. We assume the knowledge of an...
Growth Rate Conditions For Global Asymptotic Stability Of Cascaded Systems (2007)
Elena Panteley, Antonio Loria, Laurent Praly
: In the last decade several results on the stabilization of cascaded autonomous systems have appeared in the literature. The sufficient conditions for the stability or stabilizability of these...
Sufficient Conditions For A Dynamical System To Possess An Unbounded Solution (2007)
Robert Orsi, Laurent Praly, Iven Mareels
: Presented in this paper are readily verifiable conditions under which a dynamical system of the form x = f(x) possesses an unbounded solution. This result is illustrated by showing it can be used...
We design and implement a controller to swing up a spherical pendulum carried on by a three links robot arm. This controller is the patch of two linear controllers and a nonlinear one. The latter is...
On The Use Of Dynamic Invariants And Forwarding For Swinging Up A Spherical Inverted Pendulum (2007)
We design and implement a controller to swing up a spherical pendulum carried on by a three links robot arm. This controller is the patch of two linear controllers and a nonlinear one. The latter is...
Stabilization in Spite of Matched Unmodelled Dynamics (2007)
And An Equivalent, Laurent Praly, Yuan Wang
We consider nonlinear systems with input-to-output stable (IOS) unmodelled dynamics which are in the "range" of the input. Assuming the nominal system is globally asymptotically...
Output Stabilization via Nonlinear Luenberger Observers (2006)
Marconi, Lorenzo, Praly, Laurent, Isidori, Alberto
The present paper addresses the problem of existence of an (output) feedback law to the purposes of asymptotically steering to zero a given controlled variable, while keeping all state variables...
On the Existence of a Kazantzis-Kravaris/Luenberger Observer (2006)
Andrieu, Vincent, Praly, Laurent
We state sufficient conditions for the existence, on a given open set, of the extension, to nonlinear systems, of the Luenberger observer as it has been proposed by Kazantzis and Kravaris. We prove...
On the Existence of a Kazantzis-Kravaris/Luenberger Observer (2006)
Andrieu, Vincent, Praly, Laurent
We state sufficient conditions for the existence, on a given open set, of the extension, to nonlinear systems, of the Luenberger observer as it has been proposed by Kazantzis and Kravaris. We prove...
Abstract. We consider differential inclusions where a positive semidefinite function of the solutions satisfies a class-KL estimate in terms of time and a second positive semidefinite function of the...
We consider differential inclusions where a positive semidefinite function of the solutions satisfies a class-KL estimate in terms of time and a second positive semidefinite function of the initial...
Ignored Input Dynamics and A new Characterization of Control Lyapunov Functions (1999)
Boumediene Hamzi, Laurent Praly, Rue Saint Honor'e
Our objective in this paper is to extend as much as possible the dissipativity approach for the study of robustness of stability in the presence of known/unknown but ignored input dynamics. This...
Control of Underactuated Mechanical Systems Using Switching and Saturation (1996)
Mark W. Spong, Laurent Praly, Coordinated Science, Centre Automatique
In this paper we present some ideas on the control of underactuated mechanical systems using switching and saturation. We focus on the swingup control problem for a class of "gymnast"...
On Passivity-Based Output Feedback Global Stabilization Of Euler-Lagrange Systems (1994)
Romeo Ortega, Antonio Loría, Rafael Kelly, Laurent Praly
It is well known that in systems described by Euler-Lagrange equations the stability of the equilibria is determined by the potential energy function. Further, these equilibria are asymptotically...
Global Stabilizability and Observability imply Semi-global Stabilizability by Output Feedback (1994)
We show that smooth global (or even semi-global) stabilizability and uniform complete observability are sufficient properties to guarantee semi-global stabilizability by dynamic output feedback for...
Global stabilizability and observability imply semi-global stabilizability by output feedback (1994)
We show that smooth global �or even semi-global � stabilizability and uniform complete observability are su�cient properties to guarantee semi-global stabilizability by dynamic output feedback...