Publications de Philippe Müllhaupt

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A direct adaptive control methodology for the rejection of unmeasured non-vanishing disturbances is proposed. The approach uses the framework of polynomial RST controllers and relies on the internal model principle with additional degrees of freedom provid ...

Scour can have the effect of subsidence of the piers in bridges, which can ultimately lead to the total collapse of these systems. Effective bridge design needs appropriate information on the equilibrium depth of local scour. The flow field around bridge p ...

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 ...

We present two Lie algebroids linked to the construction of the linearizing output of an input affine nonlinear system. The algorithmic development of the linearizing output proceeds inductively, and each stage has two structures, namely a codimension one ...

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 ...

A clear and rigorous definition of muscle moment-arms in the context of musculoskeletal systems modelling is presented, using classical mechanics and screw theory. The definition provides an alternative to the tendon excursion method, which can lead to inc ...

Humeral head translations (HHT) play a crucial role in the glenohumeral (GH) joint function. The available shoulder musculoskeletal models developed based on inverse dynamics however fall short of predicting the HHT. This study aims at developing a simulat ...

The estimation of muscle forces in musculoskeletal shoulder models is still controversial. Two different methods are widely used to solve the indeterminacy of the system: electromyography (EMG)-based methods and stress-based methods. The goal of this work ...

Videogrammetry is commonly used to record upper limb motions. However, it cannot track the glenohumeral joint center (GH). GH is required to reconstruct upper limb motions. Therefore, it is often estimated by separately measuring scapular motions using sca ...

To improve the resolution of the Very Large Telescope Interferometer (VLTI) a two-stage mechanical system, a so called Differential Delay Line (DDL), is developed jointly by the EPFL and the Observatory of Geneva. The system is designed to reach nanometer ...

In this paper we present modeling and control of a multicable suspended mechanism called the ‘2D SpiderCrane’. The use of cables, and thus avoiding conventional heavy components, makes such a mechanism suitable for working at high transfer speeds. The init ...

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 ...

Philippe Müllhaupt

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Review of "Geometrical derivation of Lagrange's equations for a system of rigid bodies."

Asymptotic Rejection of Nonvanishing Disturbances Despite Plant-Model Mismatch

Application of Artificial Neural Networks in Assessing the Equilibrium Depth of Local Scour Around Bridge Piers

Velocity Scheduling Controller for a Nonholonomic Mobile Robot

On two isomorphic Lie algebroids associated with feedback linearization

Analysis of Cascade Structure with Predictive Control and Feedback Linearization

Muscle Moment-Arms: A Key Element in Muscle-Force Estimation

A simulation framework for humeral head translations

Comparison of an EMG-based and a stress-based method to predict shoulder muscle forces

Feasibility of an alternative method to estimate glenohumeral joint center from videogrammetry measurements and CT/MRI of patients

Fast Step-response Evaluation of Linear Continuous-time Systems with Time Delay in the Feedback Loop

Dedicated controller design for a dual-stage opto-mechatronic system

Modeling and Compensating Friction in Power Steering

Dynamics and Control of 2D SpiderCrane: A Lie-Bäcklund Approach

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

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

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

Review of "Quantum field theory and the Jones polynomial."

A Two-Time-Scale Control Scheme for Fast Unconstrained Systems

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