Yacine Chitour

On the stabilization of permanently excited linear systems (2008)

We consider control systems of the type $\dot x = A x +\alpha(t)bu$, where $u\in\R$, $(A,b)$ is a controllable pair and $\alpha$ is an unknown time-varying signal with values in $[0,1]$ satisfying a...

On the stabilization of permanently excited linear systems (2008)

We consider control systems of the type $\dot x = A x +\alpha(t)bu$, where $u\in\R$, $(A,b)$ is a controllable pair and $\alpha$ is an unknown time-varying signal with values in $[0,1]$ satisfying a...

New results on robust stabilization via saturated feedback (2008)

We consider control systems of the type $\dot x = A x +\alpha(t)bu$, where $u\in\R$, $(A,b)$ is a controllable pair and $\alpha$ is an unknown time-varying signal with values in $[0,1]$ satisfying a...

David Angeli, Yacine Chitour, Lorenzo Marconi

Abstract — In this paper we deal with the problem of stabilization of uncertain systems in the presence of input constraint. First algebraic conditions are derived for input-to-state stability of...

Reachability and Steering of Rolling Polyhedra: A Case Study in Discrete Nonholonomy (2008)

Antonio Bicchi, Senior Member, Yacine Chitour, Alessia Marigo

Abstract—Rolling a ball on a plane is a standard example of nonholonomy reported in many textbooks, and the problem is also well understood for any smooth deformation of the surfaces. For...

Singular trajectories of control-affine systems (2008)

Singular trajectories of control-affine systems (2008)

When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specific trajectories, namely,...

On the stabilization of permanently excited linear systems (2008)

When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specific trajectories, namely,...

On the stabilization of permanently excited linear systems (2008)

We consider control systems of the type $\dot x = A x +\alpha(t)bu$, where $u\in\R$, $(A,b)$ is a controllable pair and $\alpha$ is an unknown time-varying signal with values in $[0,1]$ satisfying a...

On the stabilization of persistently excited linear systems (2008)

We consider control systems of the type $\dot x = A x +\alpha(t)bu$, where $u\in\R$, $(A,b)$ is a controllable pair and $\alpha$ is an unknown time-varying signal with values in $[0,1]$ satisfying a...

On the stabilization of persistently excited linear systems (2008)

We consider control systems of the type $\dot x = A x +\alpha(t)bu$, where $u\in\R$, $(A,b)$ is a controllable pair and $\alpha$ is an unknown time-varying signal with values in $[0,1]$ satisfying a...

Line-Integral Estimates And Motion Planning Using The Continuation Method (2007)

We consider control systems of the type $\dot x = A x +\alpha(t)bu$, where $u\in\R$, $(A,b)$ is a controllable pair and $\alpha$ is an unknown time-varying signal with values in $[0,1]$ satisfying a...

Yacine Chitour, Hector J. Sussmann

. For smooth driftless control-affine systems, the approach to the nonholonomic path planning problem based on the continuation method leads to an ordinary differential equation in the space of...

Dexterity Through Rolling: Towards Manipulation Of Unknown Objects (2007)

Antonio Bicchi, Yacine Chitour, Alessia Marigo, Domenico Prattichizzo

. The nonholonomy exhibited by kinematic systems consisting of bodies rolling on top of each other can be used to the purpose of building dexterous mechanisms with a minimum hardware complication....

Time Optimal Synthesis for Left-Invariant Control Systems on SO(3) (2007)

Boscain, Ugo, Chitour, Yacine

Consider the control system given by $\dot x=x(f+ug)$, where $x\in SO(3)$, $|u|\leq 1$ and $f,g\in so(3)$ define two perpendicular left-invariant vector fields normalized so that $\|f\|=\cos(\al)$...

Common Polynomial Lyapunov Functions for Linear Switched Systems (2007)

Mason, Paolo, Boscain, Ugo, Chitour, Yacine

In this paper, we consider linear switched systems $\dot x(t)=A_{u(t)} x(t)$, $x\in\R^n$, $u\in U$, and the problem of asymptotic stability for arbitrary switching functions, uniform with respect to...

Uniform stabilization for linear systems with persistency of excitation. The neutrally stable and the double integrator cases (2007)

Chaillet, Antoine, Chitour, Yacine, Loría, Antonio, Sigalotti, Mario

Consider the controlled system $dx/dt = Ax + \alpha(t)Bu$ where the pair $(A,B)$ is stabilizable and $\alpha(t)$ takes values in $[0,1]$ and is persistently exciting, i.e., there exist two positive...

Uniform stabilization for linear systems with persistency of excitation. The neutrally stable and the double integrator cases (2007)

Chaillet, Antoine, Chitour, Yacine, Loría, Antonio, Sigalotti, Mario

Consider the controlled system $dx/dt = Ax + \alpha(t)Bu$ where the pair $(A,B)$ is stabilizable and $\alpha(t)$ takes values in $[0,1]$ and is persistently exciting, i.e., there exist two positive...

Uniform stabilization for linear systems with persistency of excitation. The neutrally stable and the double integrator cases (2007)

Chaillet, Antoine, Chitour, Yacine, Loría, Antonio, Sigalotti, Mario

Consider the controlled system $dx/dt = Ax + \alpha(t)Bu$ where the pair $(A,B)$ is stabilizable and $\alpha(t)$ takes values in $[0,1]$ and is persistently exciting, i.e., there exist two positive...

Limit Time Optimal Synthesis for a Control-Affine System on $S^2$ (2006)

Mason, Paolo, Salmoni, Rebecca, Boscain, Ugo, Chitour, Yacine

For $\alpha\in(0,\pi/2)$, let $(\Sigma)_\alpha$ be the control system $\dot{x}=(F+uG)x$, where $x$ belongs to the two-dimensional unit sphere $S^2$, $u\in [-1,1]$ and $F,G$ are $3\times3$...

Limit Time Optimal Syntheses for a control-affine system on S² (2006)

Mason, Paolo, Salmoni, Rebecca, Boscain, Ugo, Chitour, Yacine

Singular trajectories of control-affine systems (2006)

Singular trajectories of control-affine systems (2006)

When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specific trajectories, namely,...

Singular trajectories of control-affine systems (2006)

When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specific trajectories, namely,...

Controllability of partial differential equations (2006)

When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specific trajectories, namely,...

This is the notes of a FAP 2005 course (for CTS PhD and posdoc students, and for researchers) about controllability of partial differential equations, with the following items: # m-dissipative...

Controllability of partial differential equations (2006)

Let $M$ be a smooth manifold and ${\cal D}_m$, $m\geq 2$, be the set of rank $m$ distributions on $M$ endowed with the Whitney $C^\infty$ topology. We show the existence of an open set $O_m$ dense in...

This is the notes of a FAP 2005 course (for CTS PhD and posdoc students, and for researchers) about controllability of partial differential equations, with the following items: # m-dissipative...

Controllability of partial differential equations (2006)

Let $M$ be a smooth manifold and ${\cal D}_m$, $m\geq 2$, be the set of rank $m$ distributions on $M$ endowed with the Whitney $C^\infty$ topology. We show the existence of an open set $O_m$ dense in...

This is the notes of a FAP 2005 course (for CTS PhD and posdoc students, and for researchers) about controllability of partial differential equations, with the following items: # m-dissipative...

Controllability of partial differential equations (2006)

Let $M$ be a smooth manifold and ${\cal D}_m$, $m\geq 2$, be the set of rank $m$ distributions on $M$ endowed with the Whitney $C^\infty$ topology. We show the existence of an open set $O_m$ dense in...

This is the notes of a FAP 2005 course (for CTS PhD and posdoc students, and for researchers) about controllability of partial differential equations, with the following items: # m-dissipative...

A continuation method for motion-planning problems (2006)

Let $M$ be a smooth manifold and ${\cal D}_m$, $m\geq 2$, be the set of rank $m$ distributions on $M$ endowed with the Whitney $C^\infty$ topology. We show the existence of an open set $O_m$ dense in...

Chitour, Yacine

Equilibria and stability analysis of a branched metabolic network with feedback inhibition. Networks and Heterogeneous (2006)

Yacine Chitour, Frédéric Grognard, Georges Bastin

Abstract. This paper deals with the analysis of a metabolic network with feedback inhibition. The considered system is an acyclic network of monomolecular enzymatic reactions in which metabolites can...

Time Optimal Synthesis for Left--Invariant Control Systems on SO(3) (2005)

Boscain, Ugo, Chitour, Yacine

Consider the control system given by $\dot x=x(f+ug)$, where $x\in SO(3)$, $|u|\leq 1$ and $f,g\in so(3)$ define two perpendicular left-invariant vector fields normalized so that $\|f\|=\cos(\al)$...

Singular trajectories of driftless and control-affine systems (2005)

Singular trajectories of driftless and control-affine systems (2005)

We establish generic properties for singular trajectories, first for driftless, and then for control-affine systems. We show that, generically -- for the Whitney topology -- nontrivial singular...

Singular trajectories of driftless and control-affine systems (2005)

We establish generic properties for singular trajectories, first for driftless, and then for control-affine systems. We show that, generically -- for the Whitney topology -- nontrivial singular...

Singular trajectories of driftless and control-affine systems (2005)

We establish generic properties for singular trajectories, first for driftless, and then for control-affine systems. We show that, generically -- for the Whitney topology -- nontrivial singular...

Dubins' problem on surfaces. II. Nonpositive curvature (2004)

We establish generic properties for singular trajectories, first for driftless, and then for control-affine systems. We show that, generically -- for the Whitney topology -- nontrivial singular...

Sigalotti, Mario, Chitour, Yacine

Let $M$ be a complete, connected, two-dimensional Riemannian manifold with nonpositive Gaussian curvature $K$. We say that $M$ satisfies the unrestricted complete controllability property for the...

Common Polynomial Lyapunov Functions for Linear Switched Systems (2004)

Mason, Paolo, Boscain, Ugo, Chitour, Yacine

In this paper, we consider linear switched systems $\dot x(t)=A_{u(t)} x(t)$, $x\in\R^n$, $u\in U$, and the problem of asymptotic stability for arbitrary switching functions, uniform with respect to...

Dubins' problem on surfaces. II. Nonpositive curvature (2004)

Sigalotti, Mario, Chitour, Yacine

Let $M$ be a complete, connected, two-dimensional Riemannian manifold with nonpositive Gaussian curvature $K$. We say that $M$ satisfies the unrestricted complete controllability property for the...

Dubins' problem on surfaces. II. Nonpositive curvature (2004)

Sigalotti, Mario, Chitour, Yacine

Let $M$ be a complete, connected, two-dimensional Riemannian manifold with nonpositive Gaussian curvature $K$. We say that $M$ satisfies the unrestricted complete controllability property for the...

We give genericity results for singular trajectories in sub-Riemannian geometry: generically (in the sense of the Whitney topology), every singular trajectory is of minimal order and of corank 1 and...

We give genericity results for singular trajectories in sub-Riemannian geometry: generically (in the sense of the Whitney topology), every singular trajectory is of minimal order and of corank 1 and...

We give genericity results for singular trajectories in sub-Riemannian geometry: generically (in the sense of the Whitney topology), every singular trajectory is of minimal order and of corank 1 and...