Adaptive Stabilization by Delay with Biased Measurements

21st IFAC World Congress will take place in Berlin on July 11-17, 2020. It is the principal scientific event in the domain of automatic control, which is organized once in three years.

Valse team has more than 20 accepted papers at this major event!

One of them deals with adaptive stabilization by delay of a class of uncertain mechanical systems, where the measurements are available with a constant bias. Using delayed output values we avoid an observer design, which allows us to simplify the controller structure (decrease the amount of computations) at the price of a more sophisticated analysis. The results of application of this strategy to a reaction wheel inverted pendulum swing up are given in the video:

Utilization of a standard PID (LQR) control does lead to stabilization of reaction wheel rotation, while our approach with bias on-line identification solves the problem.

A propos Denis EFIMOV

Denis Efimov received Ph.D. degree in Automatic Control from the Saint-Petersburg State Electrical Engineering University (Russia) in 2001, and Dr.Sc. degree in Automatic control in 2006 from the Institute for Problems of Mechanical Engineering RAS (Saint-Petersburg, Russia). From 2000 to 2009 he was a research fellow at the Institute for Problems of Mechanical Engineering RAS, Control of Complex Systems Laboratory. From 2006 to 2011 he was working in the L2S CNRS (Supelec, France), the Montefiore Institute (University of Liege, Belgium) and IMS CNRS lab (University of Bordeaux, France). In 2011, he joined Inria (Lille - Nord Europe center). Starting from 2018 he is the head of Valse team. He is a co-author of more than 140 peer-reviewed journal papers. He is a member of several IFAC TCs and a Senior Member of IEEE. He is also serving as an Associate Editor for IEEE Transactions on Automatic Control, Automatica, IFAC Journal on Nonlinear Analysis: Hybrid Systems and Asian Journal of Control.

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