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Bourges, France

Zheng G.,French Institute for Research in Computer Science and Automation | Barbot J.-P.,ENSEA Cergy | Barbot J.-P.,French Institute for Research in Computer Science and Automation | Boutat D.,ENSI de Bourges PRISME | And 4 more authors.
Proceedings of the IEEE Conference on Decision and Control | Year: 2010

This paper investigates the problem of causal observability of the states and unknown inputs of nonlinear time-delay systems. Using the theory of non-commutative rings, the nonlinear time-delay system is transformed into a suitable canonical form to solve the problem. A necessary and sufficient condition is given to guarantee the existence of a change of coordinate leading to such a form. Then, algorithms are provided to check the possibility of obtaining causal estimations of the states and unknown inputs for the studied systems. ©2010 IEEE. Source

Zheng G.,French Institute for Research in Computer Science and Automation | Boutat D.,ENSI de Bourges PRISME
IET Control Theory and Applications | Year: 2011

This study treats synchronisation problem of chaotic systems from a novel point of view, by using a change of coordinates to transform chaotic systems into a common canonical form, for which the synchronisation problem can be easily studied via reduced observer. Sufficient and necessary conditions are given and the proposed method is illustrated by the synchronisation of Rössler chaotic system. © 2011 The Institution of Engineering and Technology. Source

Djebrani S.,ENSI de Bourges PRISME | Benali A.,ENSI de Bourges PRISME | Abdessemed F.,University of Batna
International Journal of Applied Mathematics and Computer Science | Year: 2012

A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The vehicle is equipped with three driven axles with two spherical orthogonal wheels. Taking into account the dynamical interaction between the base and the manipulator, one can define the dynamics of the mobile manipulator and design a nonlinear controller using the input-state linearization method. The control structure of the robot is built in order to demonstrate the main capabilities regarding navigation and obstacle avoidance. Several simulations were conducted to prove the effectiveness of this approach. Source

Cressent R.,ENSI de Bourges PRISME | David P.,Grenoble Institute of Technology | Idasiak V.,ENSI de Bourges PRISME | Kratz F.,ENSI de Bourges PRISME
Reliability Engineering and System Safety | Year: 2013

This article outlines the need for a reliability database to implement model-based description of components failure modes and dysfunctional behaviors. We detail the requirements such a database should honor and describe our own solution: the Dysfunctional Behavior Database (DBD). Through the description of its meta-model, the benefits of integrating the DBD in the system design process is highlighted. The main advantages depicted are the possibility to manage feedback knowledge at various granularity and semantic levels and to ease drastically the interactions between system engineering activities and reliability studies. The compliance of the DBD with other reliability database such as FIDES is presented and illustrated. © 2012 Elsevier Ltd. All rights reserved. Source

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