Search Results - "PRALY, Laurent"

High-gain observers in nonlinear feedback control by Khalil, Hassan K., Praly, Laurent

“…SUMMARYIn this document, we present the main ideas and results concerning high‐gain observers and some of their applications in control. The introduction gives…”
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Nonlinear robust periodic output regulation of minimum phase systems by Astolfi, Daniele, Praly, Laurent, Marconi, Lorenzo

“…In linear system theory, it is a well-known fact that a regulator given by the cascade of an oscillatory dynamics, driven by some regulated variables, and of a…”
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High-gain observers in nonlinear feedback control by Khalil, Hassan K., Praly, Laurent

“…SUMMARYHigh‐gain observers have proved to be an effective tool in the estimation and control of nonlinear systems. This special issue introduces the basic…”
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First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons by Agrawal, Ayush, Harib, Omar, Hereid, Ayonga, Finet, Sylvain, Masselin, Matthieu, Praly, Laurent, Ames, Aaron D., Sreenath, Koushil, Grizzle, Jessy W.

“…This paper presents preliminary results toward translating gait and control design for bipedal robots to decentralized control of an exoskeleton aimed at…”
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Estimation of Position and Resistance of a Sensorless PMSM: A Nonlinear Luenberger Approach for a Nonobservable System by Bernard, Pauline, Praly, Laurent

“…We show that the pair (rotor position, resistance) of a nonsalient permanent magnet synchronous motor (PMSM) is not observable in the sensorless setting,…”
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Observers to the aid of “strictification” of Lyapunov functions by Praly, Laurent

“…We present a procedure for modifying a weak Lyapunov function V into a strict one. For this we augment the given function with an auxiliary function Va…”
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Integral Action in Output Feedback for Multi-Input Multi-Output Nonlinear Systems by Astolfi, Daniele, Praly, Laurent

“…We address a particular problem of output regulation for multi-input multi-output nonlinear systems. Specifically, we are interested in making the stability of…”
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Convergence of gradient observer for rotor position and magnet flux estimation of permanent magnet synchronous motors by Bernard, Pauline, Praly, Laurent

“…In Bernard and Praly (2017), we introduced a new sensorless rotor position observer for permanent magnet synchronous motors which does not require the…”
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Global complete observability and output-to-state stability imply the existence of a globally convergent observer by Astolfi, Alessandro, Praly, Laurent

“…We consider systems which are globally completely observable and output-to-state stable. The former property guarantees the existence of coordinates such that…”
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Convergence of Nonlinear Observers on \mathbb^n with a Riemannian Metric (Part III) by Sanfelice, Ricardo G., Praly, Laurent

“…This paper is the third and final component of a three-part effort on observers contracting a Riemannian distance between the state of the system and its…”
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Estimation of position and resistance of a sensorless PMSM : a nonlinear Luenberger approach for a non-observable system by Bernard, Pauline, Praly, Laurent

“…We show that the pair (rotor position, resistance) of a non-salient Permanent Magnet Synchronous Motor (PMSM) is not observable in the sensorless setting,…”
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Transverse Exponential Stability and Applications by Andrieu, Vincent, Jayawardhana, Bayu, Praly, Laurent

“…We investigate how the following properties are related to each other: i) A manifold is "transversally" exponentially stable; ii) the "transverse"…”
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Harmonic internal models for structurally robust periodic output regulation by Astolfi, Daniele, Praly, Laurent, Marconi, Lorenzo

“…This note deals with the problem of output regulation for nonlinear systems in presence of periodic exogenous signals. We investigate the asymptotic properties…”
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Characterizations of Global Transversal Exponential Stability by Andrieu, Vincent, Jayawardhana, Bayu, Praly, Laurent

“…We study the relationship between the global exponential stability of an invariant manifold and the existence of a positive semidefinite Riemannian metric…”
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Convergence of Nonlinear Observers on With a Riemannian Metric (Part III) by Sanfelice, Ricardo G., Praly, Laurent

“…This article is the third and final component of a three-part effort on observers contracting a Riemannian distance between the state of the system and its…”
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Low-power peaking-free high-gain observers by Astolfi, Daniele, Marconi, Lorenzo, Praly, Laurent, Teel, Andrew R.

“…We propose a peaking-free low-power high-gain observer that preserves the main feature of standard high-gain observers in terms of arbitrarily fast convergence…”
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Convergence of Nonlinear Observers on Rn with a Riemannian Metric (Part II) by Sanfelice, Ricardo, Praly, Laurent

“…In “Convergence of Nonlinear Observers on Rn with a Riemannian Metric (Part I),” we established that a convergent observer with an infinite gain margin can be…”
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Observers for a non-Lipschitz triangular form by Bernard, Pauline, Praly, Laurent, Andrieu, Vincent

“…We address the problem of designing an observer for triangular non locally Lipschitz dynamical systems. We show the convergence with an arbitrary small error…”
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On the performance of high-gain observers with gain adaptation under measurement noise by Sanfelice, Ricardo G., Praly, Laurent

“…We address the problem of state observation for a system whose dynamics may involve poorly known, perhaps even nonlocally Lipschitz functions and whose output…”
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Robust design of nonlinear internal models without adaptation by Isidori, Alberto, Marconi, Lorenzo, Praly, Laurent

“…We propose a solution to the problem of semiglobal output regulation for nonlinear minimum-phase systems driven by uncertain exosystems that does not rely upon…”
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