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Philippe Müllhaupt

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Publications associées (57)

Asymptotic Rejection of Nonvanishing Disturbances Despite Plant-Model Mismatch

Dominique Bonvin, Philippe Müllhaupt, Sergio Valentinotti

A direct adaptive control methodology for the rejection of unmeasured non-vanishing disturbances is proposed. The approach uses the framework of polynomial RST controllers and relies on the internal model principle with additional degrees of freedom provid ...

Wiley-Blackwell2012

A quotient method for designing nonlinear controllers

Dominique Bonvin, Philippe Müllhaupt

An algorithmic method is proposed to design stabilizing control laws for a class of nonlinear systems that comprises single-input feedback-linearizable systems and a particular set of single-input non feedback-linearizable systems. The method proceeds iter ...

IEEE Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Stabilization of the cart-pendulum system through approximate manifold decomposition

Dominique Bonvin, Philippe Müllhaupt, David Ingram

This paper proposes a feedback law capable of swinging up and stabilizing the cartpendulum system. The approach uses an iterative algorithm that is typically used to construct a locally linearizing output for nonlinear control-affine systems. However, rath ...

2011

Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

Philippe Müllhaupt, Basile Graf

A modeling framework is proposed for the control of rigid and flexible cable-like systems such as cranes, together with a systematic algorithm for computing flat outputs of mechanical systems for which the flat output is a linear combi- nation of free coor ...

IEEE2010

Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

Philippe Müllhaupt, Basile Graf

2010

A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization

Dominique Pioletti, Denis Gillet, Philippe Müllhaupt, Alexandre Terrier, Yvan Michellod, Alain Farron, Martin Aeberhard

The goal of the present work was assess the feasibility of using a pseudo-inverse and null-space optimization approach in the modeling of the shoulder biomechanics. The method was applied to a simplified musculoskeletal shoulder model. The mechanical syste ...

Elsevier2010

End-to-end adaptation scheme for ubiquitous remote experimentation

Denis Gillet, Philippe Müllhaupt, Christophe Salzmann

Remote experimentation is an effective e-learning paradigm for supporting hands-on education using laboratory equipment at distance. The current trend is to enable remote experimentation in mobile and ubiquitous learning. In such a context, the remote expe ...

2009

Review of "On the number of generators of the module of derivations and multiplicity of certain rings", Gurjar, R.V. and Vagh, V., J. Algebra 319 (2008), no. 5, 2030-2049

Philippe Müllhaupt

2009

Quotient method for controlling the acrobot

Dominique Bonvin, Philippe Müllhaupt

This paper describes a two-sweep control design method to stabilize the acrobot, an input-afﬁne under-actuated system, at the upper equilibrium point. In the forward sweep, the system is successively reduced, one dimension at a time, until a two-dimensiona ...

2009

Dynamics and Control of 2D SpiderCrane: A Lie-Bäcklund Approach

Dominique Bonvin, Philippe Müllhaupt

In this paper we present modeling and control of a multicable suspended mechanism called the ‘2D SpiderCrane’. The use of cables, and thus avoiding conventional heavy components, makes such a mechanism suitable for working at high transfer speeds. The init ...

2009

Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri, Damien Perritaz

Improvement over classical dynamic feedback linearization for a unicycle mobile robots is proposed. Compared to classical extension, the technique uses a higher-dimensional state extension, which allows rejecting a constant disturbance on the robot rotatio ...

2009

Dynamical biomechanical model of the shoulder: null space based optimization of the overactuated system

Dominique Pioletti, Denis Gillet, Philippe Müllhaupt, Alexandre Terrier, Yvan Michellod, Martin Aeberhard

A new dynamical model of the shoulder has been developed. It consists of eleven muscles. The glenohumeral joint, modeled as a spherical joint, allows three rotations and blocks the translations. Muscle wrapping around a spherical humeral head is calculated ...

2009

Dedicated controller design for a dual-stage opto-mechatronic system

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

To improve the resolution of the Very Large Telescope Interferometer (VLTI) a two-stage mechanical system, a so called Differential Delay Line (DDL), is developed jointly by the EPFL and the Observatory of Geneva. The system is designed to reach nanometer ...

IEEE2008

Control of the Toycopter using a Flat Approximation

Dominique Bonvin, Philippe Müllhaupt, Jean Lévine

This paper considers a helicopter-like setup called the Toycopter. Its particularities reside first in the fact that the toycopter motion is constrained to remain on a sphere and second in the use of a variable rotational speed of the propellers to vary th ...

2008

Review of "Holditch-type theorems under the closed planar homothetic motions"

Philippe Müllhaupt

2008

Jet-Scheduling Control for SpiderCrane: Experimental Results

Dominique Bonvin, Philippe Müllhaupt, Christophe Salzmann, Davide Buccieri

SpiderCrane is a three-dimensional crane, whose main particularity lies in the absence of large inertial moving parts. This paper presents experimental results obtained with the novel jet-scheduling control methodology that is based on differential flatnes ...

2008

Review of "Geometrical derivation of Lagrange's equations for a system of rigid bodies."

Philippe Müllhaupt

2008

Stabilization of a 2D-SpiderCrane Mechanism Using Damping Assignment Passivity-based Control

Dominique Bonvin, Philippe Müllhaupt

Cable-operated manipulators, also termed cable robots, possess a number of unique properties which make them suitable for tasks involving high payloads, large workspaces, and interacting with dangerous materials. But the fact that cables can only pull the ...

2008

On Achieving Periodic Joint-Motion for Redundant Robots

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working ...

2008

Real-time compensation of hysteresis in piezoelectric-stack actuator tracking a stochastic reference

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

This paper presents a convenient way to invert the classical Preisach model to compensate the hysteresis of a piezoelectric stack actuator in real-time. The advantage of the proposed method lies in the possibility to track a stochastic signal and compensat ...

2008

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