arXiv subjects

David Saussié

Publications and source records attributed to David Saussié.

8 recordsLinked to original sources

arXiv2025

Input-Output Data-Driven Stabilization of Continuous-Time Linear MIMO Systems

In this paper, we address the problem of data-driven stabilization of continuous-time multi-input multi-output (MIMO) linear time-invariant systems using the input-output data collected from an experiment. Building on recent results for data-driven output-feedback control based on non-minimal realizations, we propose an approach that can be applied to a broad class of continuous-time MIMO systems without requiring a uniform observability index. The key idea is to show that Kreisselmeier's adaptive filter can be interpreted as an observer of a stabilizable non-minimal realization of the plant. Then, by postprocessing the input-output data with such a filter, we derive a linear matrix inequality that yields the feedback gain of a dynamic output-feedback stabilizer.

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arXiv2024

Decentralized State Estimation: An Approach using Pseudomeasurements and Preintegration

This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where individual robots estimate similar physical quantities, such as each other's position relative to themselves. The use of pseudomeasurements is introduced as a means of modelling such relationships between robots' state estimates, and is shown to be a tractable way to approach the decentralized state estimation problem. Moreover, this formulation easily leads to a general-purpose observability test that simultaneously accounts for measurements that robots collect from their own sensors, as well as the communication structure within the team. Finally, input preintegration is proposed as a communication-efficient way of sharing odometry information between robots, and the entire theory is appropriate for both vector-space and Lie-group state definitions. To overcome the need for communicating preintegrated-covariance information, a deep autoencoder is proposed that reconstructs the covariance information from the inputs, hence further reducing the communication requirements. The proposed framework is evaluated on three different simulated problems, and one experiment involving three quadcopters.

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arXiv2021

Localization with Directional Coordinates

A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and, unlike spherical coordinates, the proposed coordinates do not suffer from the same kinematic singularities and angle wrap-around. When compared to Cartesian coordinates, the proposed coordinate system results in a significantly enhanced ability to represent the true distribution of robot positions, ultimately leading to large improvements in state estimation consistency.

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arXiv2021

Relative Position Estimation Between Two UWB Devices with IMUs

For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for determining the three-dimensional relative position between two mobile robots, each using nothing more than a single ultra-wideband transceiver, an accelerometer, a rate gyro, and a magnetometer. A sliding window filter estimates the relative position at selected keypoints by combining the distance measurements with acceleration estimates, which each agent computes using an on-board attitude estimator. The algorithm is appropriate for real-time implementation, and has been tested in simulation and experiment, where it comfortably outperforms standard estimators. A positioning accuracy of less than 1 meter is achieved with inexpensive sensors.

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arXiv2019

Input-to-State Stability of a Clamped-Free Damped String in the Presence of Distributed and Boundary Disturbances

This note establishes the Exponential Input-to-State Stability (EISS) property for a clamped-free damped string with respect to distributed and boundary disturbances. While efficient methods for establishing ISS properties for distributed parameter systems with respect to distributed disturbances have been developed during the last decades, establishing ISS properties with respect to boundary disturbances remains challenging. One of the well-known methods for well-posedness analysis of systems with boundary inputs is the use of a lifting operator for transferring the boundary disturbance to a distributed one. However, the resulting distributed disturbance involves time derivatives of the boundary perturbation. Thus, the subsequent ISS estimate depends on its amplitude, and may not be expressed in the strict form of ISS properties. To solve this problem, we show for a clamped-free damped string equation that the projection of the original system trajectories in an adequate Riesz basis can be used to establish the desired EISS property.

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arXiv2019

Boundary Control of a Nonhomogeneous Flexible Wing with Bounded Input Disturbances

This note deals with the boundary control problem of a nonhomogeneous flexible wing evolving under unsteady aerodynamic loads. The wing is actuated at its tip by flaps and is modeled by a distributed parameter system consisting of two coupled partial differential equations. Based on the proposed boundary control law, the well-posedness of the underlying Cauchy problem is first investigated by resorting to the semigroup theory. Then, a Lyapunov-based approach is employed to assess the stability of the closed-loop system in the presence of bounded input disturbances.

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arXiv2018

Boundary feedback stabilization of a flexible wing model under unsteady aerodynamic loads

This paper addresses the boundary stabilization of a flexible wing model, both in bending and twisting displacements, under unsteady aerodynamic loads, and in presence of a store. The wing dynamics is captured by a distributed parameter system as a coupled Euler-Bernoulli and Timoshenko beam model. The problem is tackled in the framework of semigroup theory, and a Lyapunov-based stability analysis is carried out to assess that the system energy, as well as the bending and twisting displacements, decay exponentially to zero. The effectiveness of the proposed boundary control scheme is evaluated based on simulations.

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arXiv2016

Autonomous Landing of a Multirotor Micro Air Vehicle on a High Velocity Ground Vehicle

While autonomous multirotor micro aerial vehicles (MAVs) are uniquely well suited for certain types of missions benefiting from stationary flight capabilities, their more widespread usage still faces many hurdles, due in particular to their limited range and the difficulty of fully automating their deployment and retrieval. In this paper we address these issues by solving the problem of the automated landing of a quadcopter on a ground vehicle moving at relatively high speed. We present our system architecture, including the structure of our Kalman filter for the estimation of the relative position and velocity between the quadcopter and the landing pad, as well as our controller design for the full rendezvous and landing maneuvers. The system is experimentally validated by successfully landing in multiple trials a commercial quadcopter on the roof of a car moving at speeds of up to 50 km/h.

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