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BIPOP Research team

Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems

Team presentation

This project-team is concerned with non-smooth dynamical systems and non-smooth optimization. More precisely, modelling, control and numerical simulation are the main scientific topics. The basic tools therefore come from non-smooth mechanics, systems and control theory, non-smooth optimisation, and convex and non-smooth analysis.

Research themes

This project-team is concerned with non-smooth dynamical systems and non-smooth optimization. More precisely, modelling, control and numerical simulation are the main scientific topics. The basic tools therefore come from non-smooth mechanics, systems and control theory, non-smooth optimisation, and convex and non-smooth analysis.

The main applications can be found in mechanical systems (multibody systems with unilateral constraints, friction, nonsmooth contact laws), and in electrical systems (circuits with diodes, MOS transistors). Some more abstract problems (like optimal control with state constraints, generalized predictive control) also fit within this framework.

The main areas of application are: automotive systems, aerospace applications, electro-mechanical systems (mechatronics), robotics (biped robots control), computer graphics, etc. There are still many open fields of theoretical research (in systems theory: controllability, observability, stabilisation, trajectory tracking; in mechanical modelling: multiple impacts modelling, nonmonotone contact laws, Painlevé paradoxes), as well as on a more applied level (numerical simulation and software development).

International and industrial relations

  • Several ANR projects and European projects.
  • Collaboration with Schneider Electric, Staubli, EDF, FT R&D, Raise Partners, Adept Technology, Aldebaran Robotics, Weta technology, L'Oreal.

Keywords: Continuous modelling Automatic and control Observability and controlability Stability and stabilization Non-smooth systems Non-smooth optimisation Mechanical systems Scientific computing Numerical analysis Robots control Computer graphics