Bourges, France
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Bououden S.,PRISME ENSI de Bourges | Abdessemed F.,University of Batna
IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011 | Year: 2011

This article proposes a canonical normal form for a class of 0-flat nonlinear systems to control a 7 d.o.f-biped robot. Sufficient geometrical conditions are given to transform the studied nonlinear systems into the proposed 0-flat canonical form, which enables us to compute the flat output as well. The results obtained are very convincing and show the usefulness of such a method in studying highly non-linear systems and designing control laws to drive them. © 2011 IEEE.


Cressent R.,PRISME ENSI de Bourges | Idasiak V.,PRISME ENSI de Bourges | Kratz F.,PRISME ENSI de Bourges | David P.,Grenoble Institute of Technology
Advances in Safety, Reliability and Risk Management - Proceedings of the European Safety and Reliability Conference, ESREL 2011 | Year: 2012

This article largely illustrates the deployment of safety and dependability analysis of a critical aircraft system within a Model-Based System Engineering context. The level of analysis provided here is twofold. A first part of the study examines the process level integration between the traditional System Engineering activities and the safety and reliability assessment operations. Models of engineering activities are given and merged to produce a guideline for the project development and highlight the knowledge management. The second level of this study exemplifies the application of the preceding principles on the product development through the feedback and experience learnt on a ramjet powered vehicle embedded system. This extended instance shows the diverse knowledge materials created throughout the project as well as their imbrications and logical chaining. We mention also how the produced results help in piloting the advances and the validation needs (especially for real time constraints evaluation). © 2012 Taylor & Francis Group.


Bououden S.,PRISME ENSI de Bourges | Boutat D.,PRISME ENSI de Bourges | Abdessemed F.,Al Jouf University
11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 | Year: 2010

In this paper we presents two new 0-flat normal forms. It deals with sufficient geometrical conditions which enable us to conclude if a given nonlinear controllable dynamical system can be transformed, by means of change of coordinates, to one of these normal forms. In the same way it gives an algorithm to compute the flat outputs. As an illustration to the proposed approach, a trajectory tracking of a planar manipulator robot is simulated. The results obtained are very satisfactory proving the applicability of the method. ©2010 IEEE.

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