AI and dynamical systems: new paradigms for control and robots

Description

The basic objective of this chair is to investigate ways by which the powerful tools of IA can be used to extend the domain of applicability and the performance of dynamical systems in order to handle complex relationships that are not easily modeled by knowledge-based equations.

More specifically, we develop new paradigms and/or methodologies for control systems and robotics with AI methods. Motivated by recent improvements of classic control algorithms by encapsulating AI methods and algorithms, we tackle fundamental issues in control systems and robotic.

By doing so, we will overcome the limitations of classical control theory by adding the AI in the loop, and by using AI in the dynamics. Moreover, for many problems, such as calibration of sensors and actuators, modeling in presence of uncertainty, and optimal uncertainty-aware control, AI methods have been seen as necessary paradigms to get adequate results.

In the final objective of this chair, we will develop dynamic methodologies in AI methods and algorithms that are sometimes operate on the basis of static relationships.

Activities

This chair support research activities on control and robotic dynamical systems and on AI, in particular by providing grants to PhD students and post-doc positions. It brings together researchers and students with supports from Univ. Grenoble Alpes, Cnrs and Inria (at Gipsa-lab, Inria Grenoble and Lig), and industrial partners (Schneider and Sysnav among others).

Chair events

Meetings are organized inside of this chair with internal presentations, and scientific discussions. The members attend international conferences and are also often invited to give seminars and lectures dedicated to their activity related to the chair (as in the IEEE Columbian Control Conference, and the 14th ESA Workshop on Avionics, Data, Control and Software Systems).

Selected list of publications 

  • Nicolas Vanspranghe, Francesco Ferrante, Christophe Prieur. Stabilization of the Wave Equation by the Mean of a Saturating Dirichlet Feedback. MICNON 2021 - Third IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, Sep 2021, Tokyo, Japan.

  • Angelo Alessandri, Patrizia Bagnerini, Christophe Prieur, Anna Rossi. Control of Normal Flow PDEs with ISS Properties. CDC 2021 - 60th IEEE Conference on Decision and Control, Dec 2021, Austin, United States.

  • David Collet, Mazen Alamir, Domenico Di Domenico, Guillaume Sabiron. Behavioral cloning for fatigue-oriented wind turbine optimal predictive control. MTNS 2020 - 24th International Symposium on Mathematical Theory of Networks and Systems, Aug 2021, Cambridge, United Kingdom.

  • Audrey Moulichon, Mazen Alamir, Lauric Garbuio, Vincent Debusschere, Mustapha Rahmani et al. Replicability and portability of an advanced grid-forming VSG control for electrical grid with high rate of renewable energies. CIRED 2021 - 26th International Conference & Exhibition on Electricity Distribution, Sep 2021, Genève, Switzerland.

  • Andrii Mironchenko, Christophe Prieur, Fabian Wirth. Local stabilization of an unstable parabolic equation via saturated controls. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2021, 66 (5), pp.2162-2176.

  • Francesco Ferrante, Christophe Prieur. Boundary Control Design for Conservation Laws in the Presence of Measurement Disturbances. Mathematics of Control, Signals, and Systems, Springer Verlag, 2021, 33, pp.49-77.

  • Lina Guan, Liguo Zhang, Christophe Prieur. Optimal Observer-based Output Feedback Controller for Traffic Congestion with Bottleneck. International Journal of Robust and Nonlinear Control, Wiley, 2021, 31, pp.7087-7106.

  • Hugo Lhachemi, Christophe Prieur. Feedback Stabilization of a Class of Diagonal Infinite-Dimensional Systems with Delay Boundary Control. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2021, 66 (1), pp.105-120.

  • Hugo Lhachemi, Christophe Prieur, Robert Shorten. In-domain stabilization of block diagonal infinite-dimensional systems with time-varying input delays. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers. 2021

  • Makia Zmitri, Hassen Fourati, Christophe Prieur. BiLSTM Network-Based Extended Kalman Filter for Magnetic Field Gradient Aided Indoor Navigation. IEEE Sensors Journal, Institute of Electrical and Electronics Engineers, 2021, pp.1-8. ⟨10.1109/JSEN.2021.3091862⟩

  • David Collet, Mazen Alamir, Domenico Di Domenico, Guillaume Sabiron. A fatigue-oriented cost function for optimal individual pitch control of wind turbines. IFAC-PapersOnLine, Elsevier, 2021, 53 (2), pp.12632-12637.

  • Wilbert Rossi, Jan Polderman, Paolo Frasca. The closed loop between opinion formation and personalised recommendations. IEEE Transactions on Control of Network Systems, IEEE, 2021, pp.1-12.

  • Christophe Roman, Francesco Ferrante, Christophe Prieur. Parameter identification of a linear wave equation from experimental boundary data. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2021, 29 (5), pp.2166-2179.

  • Nicolas Vanspranghe, Francesco Ferrante, Christophe Prieur. Control of a Wave Equation with a Dynamic Boundary Condition. 59th Conference on Decision and Control, 2020, Jeju Island, South Korea.

  • David Collet, Mazen Alamir, Domenico Di Domenico, Guillaume Sabiron. Behavioral cloning for fatigue-oriented wind turbine optimal predictive control. International Symposium on Mathematical Theory of Networks and Systems, Aug 2020, Cambridge, United Kingdom.

  • Mazen Alamir. On the use of supervised clustering in stochastic NMPC design. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, In press,10.1109/TAC.2020.2970424. hal-02450483

  • Zilong Zhao, Sophie Cerf, Bogdan Robu, Nicolas Marchand. Event-Based Control for Online Training of Neural Networks. IEEE Control Systems Letters, IEEE, In press.

  • Christophe Roman, Francesco Ferrante, Christophe Prieur. Parameter identification of a linear wave equation from experimental boundary data. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, In press.

  • Makia Zmitri, Hassen Fourati, Nicolas Vuillerme. Human Activities and Postures Recognition: From Inertial Measurements to Quaternion-Based Approaches. Sensors, MDPI, 2019, 19 (19), pp.4058. 10.3390/s19194058.

  • Makia Zmitri, Hassen Fourati, Christophe Prieur. Improving Inertial Velocity Estimation Through Magnetic Field Gradient-based Extended Kalman Filter. IPIN 2019 - International Conference on Indoor Positioning and Indoor Navigation, Sep 2019, Pisa, Italy. pp.1-7.

  • M. Alamir, Conférence plénière, IEEE Columbian Control Conference, Medelin, Columbia, 15-18 Octobre, 2019



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