Michaël Defoort
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View article: A robust sliding mode controller for nonlinear systems with mismatched perturbations
A robust sliding mode controller for nonlinear systems with mismatched perturbations Open
International audience
View article: A Nonsingular Fixed‐Time Sliding Mode Controller for Robot Manipulators in the Presence of External Perturbations and Partially Known Model
A Nonsingular Fixed‐Time Sliding Mode Controller for Robot Manipulators in the Presence of External Perturbations and Partially Known Model Open
The current contribution introduces a nonsingular fixed‐time sliding mode control (SMC) scheme for position and velocity tracking of robot manipulators. The approach avoids singularities by introducing a new sliding surface with the specia…
View article: Robust fixed-time distributed optimization with predefined convergence-time bound
Robust fixed-time distributed optimization with predefined convergence-time bound Open
View article: Predefined-time VFO control design for unicycle-like mobile robots
Predefined-time VFO control design for unicycle-like mobile robots Open
The paper presents a predefined-time Vector-Field-Orientation (VFO) control law for unicycle-like nonholonomic mobile robots. We consider a set-point control problem in the presence of strict time constraints, which has to guarantee satisf…
View article: Technical Program
Technical Program Open
View article: Distributed Predefined-Time Optimization for Second-Order Systems under Detail-Balanced Graphs
Distributed Predefined-Time Optimization for Second-Order Systems under Detail-Balanced Graphs Open
This paper studies the problem of distributed predefined-time optimization for leaderless consensus of second-order multi-agent systems under a class of weighted digraphs. The proposed framework has two main steps. In the first step, the a…
View article: Fractional‐order integral terminal sliding‐mode control for perturbed nonlinear systems with application to quadrotors
Fractional‐order integral terminal sliding‐mode control for perturbed nonlinear systems with application to quadrotors Open
In this article, a novel fractional‐order recursive integral terminal sliding mode (FORITSM) control is proposed for nonlinear systems in the presence of external disturbances with unknown bounds. The proposed control approach provides an …
View article: Distributed predefined-time optimization in formation control under switching topologies
Distributed predefined-time optimization in formation control under switching topologies Open
This paper presents a novel distributed zero-gradient-sum algorithm for addressing the formation control problem by minimizing the sum of strongly convex functions under switching topologies in first-order multi-agent systems. The main con…
View article: Switching Anti-Windup Design for Discrete-Time Switched Systems Under Input Saturation
Switching Anti-Windup Design for Discrete-Time Switched Systems Under Input Saturation Open
In this paper, the tracking problem for discrete-time switched systems subject to actuator saturation and exogenous input is considered. The considered class of systems encompasses discrete-time systems subject to asymmetric saturation or …
View article: A redesign methodology generating predefined‐time differentiators with bounded time‐varying gains
A redesign methodology generating predefined‐time differentiators with bounded time‐varying gains Open
There is an increasing interest in designing differentiators, which converge exactly before a prespecified time regardless of the initial conditions, that is, which are fixed‐time convergent with a predefined upper bound of their settling …
View article: Distributed time-varying formation tracking of multi-quadrotor systems with partial aperiodic sampled data
Distributed time-varying formation tracking of multi-quadrotor systems with partial aperiodic sampled data Open
View article: LMI-Based Anti-Windup Control Design for Discrete-Time Switched Systems With Actuator Saturation
LMI-Based Anti-Windup Control Design for Discrete-Time Switched Systems With Actuator Saturation Open
In this paper, the stabilization problem for discrete-time switched systems with actuator saturation is investigated. Using switched Lyapunov functions and L2-gain analysis, a one-step method is proposed to design the controller and the an…
View article: Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems
Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems Open
This paper deals with the problem of distributed passive fault tolerant formation tracking control for cooperative second order multi-agent systems (MASs) subject to disturbances and sensor/actuator faults. The proposed scheme is based on …
View article: A distributed fault detection scheme in disturbed heterogeneous networked systems
A distributed fault detection scheme in disturbed heterogeneous networked systems Open
View article: Fixed-time sliding mode control with mismatched disturbances
Fixed-time sliding mode control with mismatched disturbances Open
View article: Designing predefined-time differentiators with bounded time-varying gains
Designing predefined-time differentiators with bounded time-varying gains Open
There is an increasing interest in designing differentiators, which converge exactly before a prespecified time regardless of the initial conditions, i.e., which are fixed-time convergent with a predefined Upper Bound of their Settling Tim…
View article: Generating new classes of fixed-time stable systems with predefined upper bound for the settling time
Generating new classes of fixed-time stable systems with predefined upper bound for the settling time Open
International audience
View article: On the Efficient Implementation of an Implicit Discrete-Time Differentiator
On the Efficient Implementation of an Implicit Discrete-Time Differentiator Open
New methodologies are designed to reduce the time complexity of an implicit discrete-time differentiator and the simulation time to implement it. They rely on Horner’s method and the Shaw-Traub algorithm. The algorithms are compared for di…
View article: On the Efficient Implementation of an Implicit Discrete-Time\n Differentiator
On the Efficient Implementation of an Implicit Discrete-Time\n Differentiator Open
New methodologies are designed to reduce the time complexity of an implicit\ndiscrete-time differentiator and the simulation time to implement it. They rely\non Horner's method and the Shaw-Traub algorithm. The algorithms are compared\nfor…
View article: Time scale observability and constructibility of linear dynamic equations
Time scale observability and constructibility of linear dynamic equations Open
This paper investigates the observability and constructibility problems of time-varying linear dynamic equations using time scale theory. First, we define observability, reachability and constructibility operators on time scales. Some nece…
View article: Design of sliding mode observer for the estimation of train car positions and in-train forces
Design of sliding mode observer for the estimation of train car positions and in-train forces Open
International audience
View article: Fixed-time convergent consensus algorithm of networked nonholonomic multi-agent systems
Fixed-time convergent consensus algorithm of networked nonholonomic multi-agent systems Open
In this paper, the problem of fixed-time leaderfollower consensus problem of nonholonomic multi-agent systems is under study. Using the "desingularisation method" introduced in the seminal paper by J.M. Coron [5], new fixedtime controllers…
View article: Fixed-time convergent consensus algorithm of networked nonholonomic multi-agent systems
Fixed-time convergent consensus algorithm of networked nonholonomic multi-agent systems Open
In this paper, the problem of fixed-time leader-follower consensus problem of nonholonomic multi-agent systems is under study. Using the "desingularisation method" introduced in the seminal paper by J.M. Coron [5], new fixed-time controlle…
View article: Leader-Following Consensus of Second-Order Multi-Agent Systems With Switching Topology and Partial Aperiodic Sampled Data
Leader-Following Consensus of Second-Order Multi-Agent Systems With Switching Topology and Partial Aperiodic Sampled Data Open
International audience
View article: Finite-time stability and stabilization results for switched impulsive dynamical systems on time scales
Finite-time stability and stabilization results for switched impulsive dynamical systems on time scales Open
View article: A Distributed Observer-Based Cyber-Attack Identification Scheme in Cooperative Networked Systems under Switching Communication Topologies
A Distributed Observer-Based Cyber-Attack Identification Scheme in Cooperative Networked Systems under Switching Communication Topologies Open
This paper studies an approach for detecting cyber attacks against networked cooperative systems (NCS) that are assumed to be working in a cyber-physical environment. NCS are prone to anomalies both due to cyber and physical attacks and fa…
View article: Collision-Free Formation Tracking of Multi-Agent Systems Under Communication Constraints
Collision-Free Formation Tracking of Multi-Agent Systems Under Communication Constraints Open
International audience
View article: Refinements of some Pachpatte and Bihari inequalities on time scales
Refinements of some Pachpatte and Bihari inequalities on time scales Open
In this study, some generalizations and refinements of some inequalities of Pachpatte and Bellman-Bihari types are established on arbitrary time domains using the time scale theory. The obtained results unify continuous and discrete inequa…
View article: A Discrete-Time Matching Filtering Differentiator
A Discrete-Time Matching Filtering Differentiator Open
This paper presents a time discretization of the robust exact filtering differentiator, a sliding mode differentiator coupled to filter, which provides a suitable approximation to the derivatives of some noisy signals. This proposal takes …
View article: Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs
Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs Open