Nano-positioning devices constitute the mechatronic heart of the VLTI (Very Large Telescope Interferometer) for the ESO (European Southern Observatory) astrometry instrumentation. In the context of the development of a new optical Differential Delay Line ( ...

2007

A Numerical Sufficiency Test for the Asymptotic Stability of Linear Time-Varying Systems

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

A numerical sufficiency test for the asymptotic stability of linear time-varying Hurwitz systems is proposed. The algorithmic procedure constructs a bounding tube in which the state is guaranteed to stay. The continuous-time system is evaluated at discrete ...

2007

Review of "On Lagrange multipliers in flexible multibody dyanmics" by B. Simeon, Comput. Meth. Appl. Mech. Eng., vol. 195, p. 6993-7005

Philippe Müllhaupt

2007

Attraction Region of Planar Linear Systems with One Unstable Pole and Saturated Feedback

Dominique Bonvin, Philippe Müllhaupt, Jean-Yves Favez

Springer, Kluwer Academic Publishers-Plenum Publishers2006

Quotient Submanifolds for Static Feedback Linearization

Philippe Müllhaupt

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 ...

2006

Experimental Results for a Nonholonomic Mobile Robot Controller Enforcing Linear Equivalence Asymptotically

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri, Damien Perritaz

2006

Velocity Scheduling Controller for a Nonholonomic Mobile Robot

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

An improvement over classical dynamic feedback linearization for the control of a nonholonomic mobile robot is proposed. The use of a state extension of higher dimension than in the case of dynamic feedback linearization helps reject constant disturbances ...

2006

Strategy for the Control of a Dual-stage Nano-positioning System with a Single Metrology

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

A double-stage feedback control structure for a double-stage mechanical system, with a single optical metrology is developed to reach the nanometer accuracy at high bandwidth over large displacements. A piezoelectric stack actuator is used for fine positio ...

2006

Improving tokamak vertical position control in the presence of power supply voltage saturation

Jonathan Bryan Lister, Philippe Müllhaupt, Jean-Yves Favez

The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the so-called instability of the current vertical position. Linearized models all share the feature of a single unstable eigenmode, attributable t ...

Institute of Physics2005

SpiderCrane: Model and Properties of a Fast Weight-Handling Equipment

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

A new crane design, labeled "SpiderCrane", is proposed to handle fast load displacements. Its main particularity is the absence of heavy mobile components. The system beeing underactuated, its control is challenging. Hence, as a step towards easier and mor ...

2005

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

Denis Gillet, Philippe Müllhaupt, Christophe Salzmann

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 ...

2005

Interactive 3D Simulation of Flat Systems: The SpiderCrane as a Case Study

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

2005

Analysis of Cascade Structure with Predictive Control and Feedback Linearization

Dominique Bonvin, Philippe Müllhaupt, Kahina Guemghar

Predictive control and feedback linearization are two popular approaches for the control of nonlinear systems. In this paper, a cascade combination of the two methods is proposed, where control based on input- output feedback linearization forms the inner ...

2005

Analysis and control of underactuated mechanical nonminimum-phase systems

Philippe Müllhaupt

EPFL1999

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