MINES ParisTech CAS - Centre automatique et systèmes

Rotation estimation for a satellite from Sun sensors

Authors: L. Magnis, and N. Petit, Control Conference (ECC), 2013 European, pp. 852 - 859, 17-19 July 2013, Zurich
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Further results on the observability in magneto-inertial navigation

Authors: P. Batista, Nicolas Petit, Carlos Sylvestre, Paulo Oliveira, American Control Conference (ACC), 2013, pp. 2503 - 2508, 17-19 June 2013, Washington, DC, USA Download PDFAbstract, BibTeX...

Globally convergent nonlinear observer for the sensorless control of surface-mount Permanent Magnet Synchronous machines

Authors: Jérémy Malaizé, Laurent Praly and Nicolas Henwood, IEEE Conference on Decision and Control (2012), pp. 5900- 5905, 10-13 Dec. 2012, Hawai, USA. Download PDFAbstract, BibTeX...

Rotational and translational bias estimation based on depth and image measurements

Authors: N. Zarrouati, P. Rouchon, K. Beauchard, IEEE Conference on Decision and Control (2012), pp. 6627- 6634, 10-13 Dec. 2012, Hawai, USA. Download PDFAbstract, BibTeX...

Signal injection and averaging for position estimation of Permanent-Magnet Synchronous Motors

Authors: Al K. Jebai, F. Malrait, Ph. Martin, P. Rouchon, IEEE Conference on Decision and Control (2012), pp. 7608-7613, December 10-13, 2012, Hawai, USA. Download PDFAbstract, BibTeX...

A robust nonlinear Luenberger observer for the sensorless control of SM-PMSM: Rotor position and magnets flux estimation

Authors: Nicolas Henwood, Jeremy Malaize and Laurent Praly, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society, pp. 1625-1630, 25-28 Oct. 2012, Montreal, Canada Download PDFAbstract, BibTeX...

SO(3)-invariant asymptotic observers for dense depth field estimation based on visual data and known camera motion

Authors: N. Zarrouati, E. Aldea and P. Rouchon, American Control Conference 2012, pp. 4116 - 4123, 27-29 June 2012, Montreal, Canada. Download PDFAbstract, BibTeX...

Stability and asymptotic observers of binary distillation processes described by nonlinear convection/diffusion models

Authors: S. Dudret, K. Beauchard, F. Ammouri, P. Rouchon, American Control Conference 2012, pp. 3352 - 3358, 27-29 June 2012, Montreal, Canada. Download PDFAbstract, BibTeX...

Curvilinear velocity estimation using low-quality stereo-vision systems and a gyrometer

Authors: N. Zarrouati, M. Hillon and N. Petit, American Control Conference 2012, pp. 4108 - 4115, 27-29 June 2012, Montreal, Canada. Download PDFAbstract, BibTeX...

Tracking and control for handheld surgery tools

Authors: Gontje C. Claasen, Philippe Martin, Frederic Picard, Biomedical Circuits and Systems Conference (BioCAS), 2011, pp. 428 - 431, 10-12 Nov. 2011, San Diego USA DOI: 10.1109/BioCAS.2011.6107819 Download PDFAbstract, BibTeX...

High-bandwidth low-latency tracking using optical and inertial sensors

Authors: Gontje C. Claasen, Philippe Martin, Frederic Picard, 5th International Conference on Automation, Robotics and Applications, pp. 366 - 371, Dec 6-8, 2011, Wellington, New Zealand DOI: 10.1109/ICARA.2011.6144911 Download PDFAbstract, BibTeX...

Harmonization of a multi-sensor navigation system

Authors: Eric Dorveaux, Nicolas Petit, Indoor Positioning and Indoor Navigation (IPIN), 2011 International Conference on, PP. 1-7, 21-23 Sept. 2011, Guimarães, Portugal DOI: 10.1109/IPIN.2011.6071944 Download PDFAbstract, BibTeX...

A Separation Principle on Lie Groups

Authors: S. Bonnabel, P. Martin, P. Rouchon, E. Salaün, IFAC world congress 2011, pp. 8004-8009, August 28 -September 2, Milano DOI: 10.3182/20110828-6-IT-1002.03353 Download PDFAbstract, BibTeX...

Output Feedback control of time delay systems with adaptation of delay estimate

Authors: Delphine Bresch-Pietri, Jonathan Chauvin, Nicolas Petit, 18th IFAC World Congress, pp. 7606-7612, August 28 - September 2, 2011, Milano, Italy, DOI: 10.3182/20110828-6-IT-1002.01944 Download PDFAbstract, BibTeX...

The Navigation and Control Technology Inside the AR.Drone Micro UAV

Authors: Pierre-Jean Bristeau, François Callou, David Vissière, Nicolas Petit, 18th IFAC World Congress, pp. 1477-1484, August 28 - September 2011, Milano, Italy, DOI: 10.3182/20110828-6-IT-1002.02327 Download PDFAbstract, BibTeX...

Estimation of Saturation of Permanent-Magnet Synchronous Motors Through an Energy-Based Model

Authors: Al Kassem Jebai, François Malrait, Philippe Martin, Pierre Rouchon, Proceedings of the Electric Machines & Drives Conference (IEMDC), 2011 IEEE International, pp. 1316 - 1321, August 22 2011, DOI: 10.1109/IEMDC.2011.5994795 Download PDFAbstract, BibTeX...

Combining Inertial Measurements and Distributed Magnetometry for Motion Estimation

Authors: Eric Dorveaux, Thomas Boudot, Mathieu Hillion, Nicolas Petit, Combining Inertial Measurements and Distributed Magnetometry for Motion Estimation, pp. 4249-4256, June 29 - July 01, 2011, San Francisco, USA, Download PDFAbstract, BibTeX...

Navigation System for Ground Vehicles using Temporally Interconnected Observers

Authors: Pierre-Jean Bristeau, Nicolas Petit, 2011 American Control Conference, pp. 1260-1267, June 29 - July 01, 2011, San Francisco Download PDFAbstract, BibTeX...

Using distributed magnetometry in navigation of heavy launchers and space vehicles

Authors: Nicolas Praly, Nicolas Petit, Julien Laurent-Varin, 4TH EUROPEAN CONFERENCE FOR AEROSPACE SCIENCES (EUCASS), July 4 2011, St Petersburg, Download PDFAbstract, BibTeX...

Back and forth nudging for quantum state estimation by continuous weak measurement

Authors: Zaki Leghtas, Mazyar Mirrahimi, Pierre Rouchon, American Control Conference 2011, pp. 4334 - 4339, San Francisco, June 29 - July 1, 2011 Download PDFAbstract, BibTeX...

Design of a navigation filter by analysis of local observability

Authors: Pierre-Jean Bristeau, Nicolas Petit, Laurent Praly, 49th IEEE Conference on Decision and Control, pp. 1298-1305, Atlanta, USA, December 2010 DOI: 10.1109/CDC.2010.5717848 Download PDFAbstract, BibTeX...

Reproducing slugging oscillations of a real oil well

Authors: Florent Di Meglio, Glenn-Ole Kaasa, Nicolas Petit, Vidar Alstad, 49th IEEE Conference on Decision and Control, December 2010, Atlanta DOI: 10.1109/CDC.2010.5717367 Download PDFAbstract, BibTeX...

A Technical Result for the Study of High-gain Observers with Sign-indefinite Gain Adaptation

Authors: Ricardo G. Sanfelice, Laurent Praly, 8th IFAC Symposium on Nonlinear Control Systems, pp. 284-289, Bologna, Italy, September 1 2010 Download PDFAbstract, BibTeX...

Asymptotic reconstruction of the Fourier expansion of inputs of linear time-varying systems with applications

Authors: Jonathan Chauvin, Nicolas Petit, Periodic Control Systems Conference PSYCO 2010, August 2010, Antalya, Turkey, Download PDFAbstract, BibTeX...

Generalized Multiplicative Extended Kalman Filter for Aided Attitude and Heading Reference System

Authors: Philippe Martin, Erwan Salaün, 2010 AIAA Guidance, Navigation, and Control Conference, AIAA 2010-8300, 2 - 5 August 2010, Toronto, Ontario Canada Download PDFAbstract, BibTeX...

Back and forth nudging for quantum state reconstruction

Authors: A. Donovan, M. Mirrahimi, P. Rouchon, Communications, Control and Signal Processing (ISCCSP), pp: 1-5, 2010. Download PDFAbstract, BibTeX...

Homogeneity in the bi-limit as a tool for observer and feedback design

Authors: Vincent Andrieu, Laurent Praly, Alessandro Astolfi, 48th  IEEE  Conference  on  Decision  and  Control, pp. 1050-1055, December 2009, Shanghai, China DOI: 10.1109/CDC.2009.5400263 Download PDFAbstract, BibTeX...

Parameter estimation of a 3-level quantum system with a single population measurement

Authors: Zaki Leghtas, Mazyar Mirrahimi, Pierre Rouchon, 48th IEEE Conference on Decision and Control, pp: 3816-3820, 2009 DOI: 10.1109/CDC.2009.5400060 Download PDFAbstract, BibTeX...

Nonlinear observer design with an appropriate Riemannian metric

Authors: R. Sanfelice, L. Praly, 48th IEEE Conference on Decision and Control, pp. 6514-6519, 15-18 Dec. 2009, Shanghai, China DOI: 10.1109/CDC.2009.5400714 Download PDFAbstract, BibTeX...

Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem

Authors: Silvère Bonnabel, Philippe Martin, Erwan Salaün, Proceedings of the 48th IEEE Conference on Decision and Control, pp. 1297-1304 DOI: 10.1109/CDC.2009.5400372 Download PDFAbstract, BibTeX...

An Observer-Based Design for Cogging Forces Cancellation in Permanent Magnet Linear Motors

Authors: Jérémy Malaizé, Jean Lévine, 48th IEEE Conference on Decision and Control, p. 6811, 15-18 Dec. 2009, Shanghai, China, DOI: 10.1109/CDC.2009.5399831 Download PDFAbstract, BibTeX...

Estimation d’état pour les drones aériens

Authors: Philippe Martin, Erwan Salaün, 7èmes Journées Nationales de la Recherche en Robotique, November 2009 Download PDFAbstract, BibTeX...

Trajectory estimation for a hybrid rocket

Authors: Pierre-Jean Bristeau, Nicolas Petit, 2009 AIAA Guidance, Navigation, and Control Conference, August 2009, Chicago, USA, Download PDFAbstract, BibTeX...

Fusion of inertial and visual: a geometrical observer-based approach

Authors: S. Bonnabel, P. Rouchon Intelligent Systems and Automation: 2nd Mediterranean Conference on Intelligent Systems and Automation (CISA'09) Vol 1107 no 1 pp. 54-58 Download PDFAbstract, BibTeX...

An observer for permanent magnet synchronous motors with currents and voltages as only measurements

Authors: F. Poulain, L. Praly, R. Ortega, 47th IEEE Conference on Decision and Control, pp. 5390-5395, 9-11 Dec. 2008, Cancun, Mexico DOI: 10.1109/CDC.2008.4738868 Download PDFAbstract, BibTeX...

A general symmetry-preserving observer for aided attitude heading reference systems

Authors: Philippe Martin, Erwan Salaün, Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico, December 2008 Download PDFAbstract, BibTeX...

Design and Implementation of a Low-Cost Aided Attitude and Heading Reference System

Authors: Ph. Martin, E. Salaün, 2008 AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, USA Download PDFAbstract, BibTeX...

Non-linear observer on Lie Groups for left-invariant dynamics with right-equivariant output

Authors: S. Bonnabel, Ph. Martin, P. Rouchon , 2008 IFAC World Congress, July 2008, Seoul, Korea, pp. 8594-8598 Download PDFAbstract, BibTeX...

Qubit Hamiltonian identification: A symmetry-preserving observer-based approach

Authors: S. Bonnabel, M. Mirrahimi, P. Rouchon, 2008 IFAC World Congress, July 2008, Seoul, Korea, pp. 7612-7617 Download PDFAbstract, BibTeX...

An Invariant Observer for Earth-Velocity-Aided Attitude Heading Reference Systems

Authors: Philippe Martin, Erwan Salaün, 17th World Congress The International Federation of Automatic Control, July 2008, Seoul, pp. 9857-9864 Download PDFAbstract, BibTeX...

Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors

Authors: Philippe Martin, Erwan Salaün, 46th IEEE Conference on Decision and Control, pp 1039-1045, December 2007 DOI: 10.1109/CDC.2007.4435006 Download PDFAbstract, BibTeX...

DESIGN AND IMPLEMENTATION OF A LOW-COST ATTITUDE AND HEADING NONLINEAR ESTIMATOR

Authors: Philippe Martin, Erwan Salaün, 5th International Conference on Informatics in Control, Automation and Robotics, Proceedings SPSMC, pp. 53-61 Download PDFAbstract, BibTeX...

Using distributed magnetometers to increase IMU-based velocity estimation into perturbed area

Authors: David Vissière, Alain Martin, Nicolas Petit, Proc. of the 46th IEEE Conference on Decision and Control, pp. 4924-4931, December 12-14, 2007, New Orleans, USA DOI: 10.1109/CDC.2007.4434809 Download PDFAbstract, BibTeX...

Homogeneous observers with dynamic high gains

Authors: V. Andrieu, L. Praly, A. Astolfi, 7th IFAC Symposium on Nonlinear Control Systems, pp. 325-330, 21-24 August, 2007, Pretoria, South Africa Download PDFAbstract, BibTeX...

Using magnetic disturbances to improve IMU-based position estimation

Authors: David Vissière, Alain Martin, Nicolas Petit, European Control Conference 2007, pp. 2853-2858, July 2-5, 2007, Kos, Greece Download PDFAbstract, BibTeX...

Continuous measurement of a statistic quantum ensemble

Authors: Mirrahimi, M., Rouchon, P. , 45th IEEE Conference on Decision and Control, pp. 2465--2470, 13-15 Dec. 2006, San Diego, USA DOI: 10.1109/CDC.2006.377353 Download PDFAbstract, BibTeX...

A non-linear symmetry-preserving observer for velocity-aided inertial navigation

Authors: Silvere Bonnabel, Philippe Martin, Pierre Rouchon, 2006 American Control Conference, Minneapolis, USA, DOI: 10.1109/ACC.2006.1657161 Download PDFAbstract, BibTeX...

Kalman Filtering for Real-Time Individual Cylinder Air Fuel Ratio Observer on a Diesel Engine Test Bench

Auteurs: Jonathan Chauvin, Philippe Moulin, Gilles Corde, Nicolas Petit et Pierre Rouchon Proc. of American Control Conference, Minneapolis, June 14-16, 2006, pp. 1886-1891 DOI: 10.1109/ACC.2006.1656495 Download PDF
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Active estimation of the initial phase for brushless synchronous motors

Authors: Jérémy Malaizé, Jean Lévine, 9th IEEE International Workshop on Advanced Motion Control, p. 563, 9th IEEE International Workshop on Advanced Motion Control, Istanbul, Turkey, May 2006 DOI: 10.1109/AMC.2006.1631721 Download PDFAbstract, BibTeX...

Estimation active de la phase initiale des moteurs synchrone

Authors: J. Malaizé, J. Lévine, R. Desailly, CIFA 2006, 30 mai-1er juin 2006, Bordeaux, France Download PDFAbstract, BibTeX...

Groupe de Lie et observateur non-linéaire

Authors: Silvere Bonnabel, Philippe Martin, Pierre Rouchon, Conférence Internationale Francophone d'Automatique 2006 Download PDFAbstract, BibTeX...