Publications by Philippe Müllhaupt

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The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working ...

A numerical algorithm that achieves asymptotic stability for feedback linearizable systems is presented. The nonlinear systems can be represented in various forms that include differential equations, simulated physical models or lookup tables. The proposed ...

A modeling framework is proposed for the control of rigid and flexible cable-like systems such as cranes, together with a systematic algorithm for computing flat outputs of mechanical systems for which the flat output is a linear combination of the free co ...

There still remains a barrier ahead of widespread clinical applications of upper extremity musculoskeletal models. This study is a step toward lifting this barrier for a shoulder musculoskeletal model by enhancing its realism and facilitating its applicati ...

SpiderCrane is a three-dimensional crane, whose main particularity lies in the absence of large inertial moving parts. This paper presents experimental results obtained with the novel jet-scheduling control methodology that is based on differential flatnes ...

Model predictive control (MPC) is a very effective approach to control nonlinear systems, especially when the systems are high dimensional and/or constrained. MPC formulates the problem of input trajectory generation as an optimization problem. However, due to model mismatch and disturbances, frequent re-calculation of the trajectories is typically called for. This paper proposes a two-time-scale control scheme that uses less frequent repeated trajectory generation in a slow loop and time-varying linear fee

The effects of friction are critical to the dynamics of electric power steering (EPS). On the one hand, friction contributes to the stability of the system and filters some of the disturbances (road vibration, etc.). On the other hand, it affects negativel ...

We present a new walking controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controller projects intermediate states of the biped back to the beginning of the phase for which a discrete LQR controller is designed. After the projection, a proper control policy is generated by this LQR controller and used at the intermediate time. The project

This paper describes a two-sweep control design method to stabilize the acrobot, an input-afﬁne under-actuated system, at the upper equilibrium point. In the forward sweep, the system is successively reduced, one dimension at a time, until a two-dimensiona ...

The synthesis of shoulder kinematics, either for simulation in a model or imitation in a robot, is a challenging task because of the contact between shoulder blade and ribcage. As the shoulder moves, the shoulder blade glides over the ribcage. In kinematic ...

A class of nonlinear systems and a filtration of the corresponding codistributions are presented. The filtration enjoys some strong integrability property which allows an easy computation of a linearizing normal form whenever the algorithm terminates with ...

An algorithmic method is proposed to design stabilizing control laws for a class of nonlinear systems that comprises single-input feedback-linearizable systems and a particular set of single-input non feedback-linearizable systems. The method proceeds iter ...

Feedback linearization requires a unique feedback law and a unique diffeomorphism to bring a system to Brunovsk´y normal form. Unfortunately, singularities might arise both in the feedback law and in the diffeomorphism. This paper demonstrates the ability ...

Cable-operated manipulators, also termed cable robots, possess a number of unique properties which make them suitable for tasks involving high payloads, large workspaces, and interacting with dangerous materials. But the fact that cables can only pull the ...

In the 60's, control, signals and systems had a common linear algebraic background and, according to their evolution, their respective backgrounds have now dramatically differed. Recovering such a common background, especially in the nonlinear context, is currently a fully open question. The role played by physical models, finite or infinite dimensional, in this hypothetical convergence is extensively discussed in this book. The discussion does not only take place on a theoretical basis but also in the ligh

Instances of control systems are presented for which dynamical feedback linearizability can be assessed from differential forms of highest relative degree after some “contact” transformation has been applied. This bypasses the need to find a polynomial differential operator that leads to an integrable co-distribution.

This paper presents a convenient way to invert the classical Preisach model to compensate the hysteresis of a piezoelectric stack actuator in real-time. The advantage of the proposed method lies in the possibility to track a stochastic signal and compensat ...

Remote experimentation is an effective e-learning paradigm for supporting hands-on education using laboratory equipment at distance. The current trend is to enable remote experimentation in mobile and ubiquitous learning. In such a context, the remote expe ...

A procedure for finding locally the linearizing output of a single input nonlinear affine system is proposed. It relies on successive integrations of one-dimensional distributions and projections along these submanifolds. The algorithm proceeds recursively ...

Real-time Interaction over the Internet (RTI2) is an Internet service that is required typically by remote experimentation applications. From a quality of service (QoS) point of view, RTI2 has constraints that differ from usual real-time multimedia service ...

Philippe Müllhaupt

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On Achieving Periodic Joint-Motion for Redundant Robots

Numerical algorithm for feedback linearizable systems

Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

A Matlab toolbox for scaled-generic modeling of shoulder and elbow

Jet-Scheduling Control for SpiderCrane: Experimental Results

A Two-Time-Scale Control Scheme for Fast Systems

A Friction Compensation Control for Power Steering

Time-projection control to recover inter-sample disturbances, application to bipedal walking control

Quotient method for controlling the acrobot

Modelling of the human shoulder as a parallel mechanism without constraints

Bilinear Control Systems with Forced Integrable Filtration

A Quotient Method for Designing Nonlinear Controllers

Avoiding Feedback-Linearization Singularity Using a Quotient Method -- The Field-Controlled DC Motor Case

Stabilization of a 2D-SpiderCrane Mechanism Using Damping Assignment Passivity-based Control

Advances in the Theory of Control, Signals and Systems with Physical Modeling

Application of Legendrian Foliations in Differential Flatness Problems

Real-time compensation of hysteresis in piezoelectric-stack actuator tracking a stochastic reference

End-to-end adaptation scheme for ubiquitous remote experimentation

Quotient Submanifolds for Static Feedback Linearization

Real-Time Interaction over the Internet: Model for QOS Adaptation