Publications de Davide Buccieri

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

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

Jet-scheduling control for flat systems

Davide Buccieri

The control of cranes and nonholonomic robots has gained increased interest mainly because of the civilian and military industrial need to achieve fast and accurate transport of goods and equipment. Old and new harbors are now venturing into fully automate ...

EPFL2008

A Numerical Sufficiency Test for the Asymptotic Stability of Linear Time-Varying Systems

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

A numerical sufficiency test for the asymptotic stability of linear time-varying Hurwitz systems is proposed. The algorithmic procedure constructs a bounding tube in which the state is guaranteed to stay. The continuous-time system is evaluated at discrete ...

2007

Velocity Scheduling Controller for a Nonholonomic Mobile Robot

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

An improvement over classical dynamic feedback linearization for the control of a nonholonomic mobile robot is proposed. The use of a state extension of higher dimension than in the case of dynamic feedback linearization helps reject constant disturbances ...

2006

Experimental Results for a Nonholonomic Mobile Robot Controller Enforcing Linear Equivalence Asymptotically

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri, Damien Perritaz

2006

SpiderCrane: Model and Properties of a Fast Weight-Handling Equipment

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

A new crane design, labeled "SpiderCrane", is proposed to handle fast load displacements. Its main particularity is the absence of heavy mobile components. The system beeing underactuated, its control is challenging. Hence, as a step towards easier and mor ...

2005

Interactive 3D Simulation of Flat Systems: The SpiderCrane as a Case Study

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

2005

A Two-Time-Scale Control Scheme for Fast Unconstrained Systems

Sébastien Gros, Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

2007