Elena Panteley

article

Synchronization patterns in Stuart–Landau networks: a reduced system approach

Liudmila Tumash, Elena Panteley, Anna Zakharova, Eckehard Schöll

The European Physical Journal B > 2019 > 92 > 5 > 1-10

We study networks with coupled phase and amplitude dynamics. In particular, we investigate a ring of Stuart–Landau oscillators. For symmetry-conserving coupling we observe cluster synchronization. We show that the dimension of the dynamical system can be substantially reduced by projecting the system onto the subspace corresponding to the unstable eigenvalues of the linear part of the network dynamics...

article

A Separation Principle for Underactuated Lossless Lagrangian Systems

Sofia Avila-Becerril, Antonio Loria, Elena Panteley

IEEE Transactions on Automatic Control > 2017 > 62 > 10 > 5318 - 5323

We study under-actuated Lagrangian systems without dissipative forces, augmented by a chain of integrators. For such systems, we solve the open problem of global tracking control via position measurements only; strictly speaking, we establish uniform global asymptotic stability for the closed loop system. As a corollary, we obtain an original statement for flexible-joint robots, which closes a long-standing...

article

Synchronization and Dynamic Consensus of Heterogeneous Networked Systems

Elena Panteley, Antonio Loria

IEEE Transactions on Automatic Control > 2017 > 62 > 8 > 3758 - 3773

We present an analysis framework for the study of synchronization of heterogeneous nonlinear systems interconnected over networks described by directed graphs. Heterogeneous systems may have totally different dynamical models, albeit of the same dimension, or may possess equal models with different lumped parameters. We show that their behavior, when network-interconnected, is fully characterized...

chapter

A robust δ-persistently exciting controller for formation-agreement stabilization of multiple mobile robots

Mohamed Maghenem, Antonio Loria, Elena Panteley

2017 American Control Conference (ACC) > 869 - 874

2017 American Control Conference (ACC)

We propose a δ-persistently exciting controller [17] for leader-follower agreement control of a group of non-holonomic mobile robots, under the assumption that the virtual-leader velocities converge to zero. We assume that each of the vehicles in the formation communicates only with one leader and one, or several followers hence, that is, they form a spanning-tree communication topology rooted at...

chapter

Singular-perturbations-based analysis of synchronization in heterogeneous networks: A case-study

Mohamed Maghenem, Elena Panteley, Antonio Loria

2016 IEEE 55th Conference on Decision and Control (CDC) > 2581 - 2586

2016 IEEE 55th Conference on Decision and Control (CDC)

In recent work, we laid the basis of an analysis framework for the study of heterogeneous networks. In essence, it is postulated that in a heterogeneous network a collective non-trivial behaviour arises, which may be modelled as a dynamical system itself. Then, we say that the networked systems synchronize or, more precisely, achieve dynamic consensus if they adopt this emergent behaviour. In this...

chapter

A separation principle for a class of euler-lagrange systems

Antonio Loría, Elena Panteley

Lecture Notes in Control and Information Sciences > New Directions in nonlinear observer design > 229-247

We have addressed in this chapter, the problem of output feedback trajectory tracking of Euler Lagrange systems. For a subclass of these systems (including manipulators), characterised by certain factorisation, we have provided a separation principle. Our main result establishes that, if a globally exponentially stabilising state feedback controller can be implemented using the state estimates provided...

chapter

Global position-feedback tracking control of flexible-joint robots

Sofia Avila-Becerril, Antonio Loria, Elena Panteley

2016 American Control Conference (ACC) > 3008 - 3013

2016 American Control Conference (ACC)

We solve the open problem of global tracking control of 2nd-degree under-actuated lossless (without friction) Lagrangian systems via position measurements only. For flexible-joint robots, we design a dynamic controller which is based on measurements of link and joint positions only. Then, approximate differentiation is used for link velocities and a simple Luenberger observer for rotor velocities...

chapter

2 Cascaded Nonlinear Time-Varying Systems: Analysis and Design

Antonio Loría, Elena Panteley

Lecture Notes in Control and Information Sciences > Advanced Topics in Control Systems Theory > 23-64

The general topic of study is Lyapunov stability of nonlinear time-varying cascaded systems. Roughly speaking these are systems in “open loop” as illustrated in the figure below.

chapter

6 Stability, Told by Its Developers

Antonio Loría, Elena Panteley

Lecture Notes in Control and Information Sciences > Advanced Topics in Control Systems Theory > 199-258

Lyapunov stability theory is probably the most useful qualitative method to study the behaviour of dynamical systems; it benefits from at least 75 years of sustained development. It started with the memoir of A. M. Lyapunov [32], published in a Western2 language in [33], and, starting with the 1930s, many refinements to this stability theory have been established.

book

Advanced Topics in Control Systems Theory

Antonio Loría, Françoise Lamnabhi-Lagarrigue, Elena Panteley

Lecture Notes in Control and Information Sciences

"Advanced Topics in Control Systems Theory" contains selected contributions written by lecturers at the third (annual) Formation d’Automatique de Paris (FAP) (Graduate Control School in Paris). Following on from the lecture notes from the second FAP (Volume 311 in the same series) it is addressed to graduate students and researchers in control theory with topics touching on a variety of...

book

Advanced Topics in Control Systems Theory

Françoise Lamnabhi-Lagarrigue, Antonio Loría, Elena Panteley

Lecture Notes in Control and Information Sciences

"Advanced Topics in Control Systems Theory" contains selected contributions written by lecturers at the second (annual) Formation d’Automatique de Paris (FAP) (Graduate Control School in Paris). It is addressed to graduate students and researchers in control theory with topics touching on a variety of areas of interest to the control community such as cascaded systems, flatness, optimal...

chapter

Optimal Controller Gain Tuning for Robust Stability of Spacecraft Formation

Esten I. Grøtli, Antoine Chaillet, Elena Panteley, J. Tommy Gravdahl

Lecture Notes in Electrical Engineering > Informatics in Control, Automation and Robotics > Part III: Signal Processing, Systems Modeling and Control > 335-347

The spacecraft formation control problem sets high demands to the performance, especially with respect to positional accuracy. The problem is further complicated due to scarce fuel resources and limited actuation effects, in addition to the many sources of disturbances. This paper addresses the problem of finding the optimal gains of spacecraft formation controllers. By optimal, we mean the gains...

article

Adaptation Is Unnecessary in formula><tex>$\\mathcal{L}_{1}$<\/tex><\/formula>-Adaptive Control: What Makes an Adaptive Controller \"Adaptive\"?

Romeo Ortega, Elena Panteley

IEEE Control Systems > 2016 > 36 > 1 > 47 - 52

The basic premise upon which adaptive control is based is the existence of a parameterized controller that achieves the control objective. Moreover, it is assumed that these parameters are not known but that they can be estimated online from measurements of the plant signals. Toward this end, an identifier is added to generate the parameter estimates. Then, applying a certainty equivalence principle,...

article

Robustness of ISS systems to inputs with limited moving average: Application to spacecraft formations

Esten Ingar Grøtli, Elena Panteley, Antoine Chaillet, Jan Tommy Gravdahl

International Journal of Robust and Nonlinear Control > 26 > 4 > 816 - 833

We provide a theoretical framework that fits realistic challenges related to spacecraft formation with disturbances. We show that the input‐to‐state stability of such systems guarantees some robustness with respect to a class of signals with bounded average‐energy, which encompasses the typical disturbances acting on spacecraft formations. Solutions are shown to converge to the desired formation,...

article

Comments on ‘comparison of architectures and robustness of model reference adaptive controllers and L₁‐adaptive controllers’

Romeo Ortega, Elena Panteley, Alexey Bobtsov

International Journal of Adaptive Control and Signal Processing > 30 > 1 > 125 - 127

In a recent paper it is claimed that adding a filter at the plant input to a classical direct model reference adaptive control constitutes a ‘new architecture’ for adaptive control. The purpose of this note is to show that this claim is specious. Towards this end, we bring to the readers attention the some recent results where a rigorous mathematical analysis shows that the resulting control signal...

article

Closed-loop firing rate regulation of two interacting excitatory and inhibitory neural populations of the basal ganglia

Ihab Haidar, William Pasillas-Lépine, Antoine Chaillet, Elena Panteley, more

Biological Cybernetics > 2016 > 110 > 1 > 55-71

This paper develops a new closed-loop firing rate regulation strategy for a population of neurons in the subthalamic nucleus, derived using a model-based analysis of the basal ganglia. The system is described using a firing rate model, in order to analyse the generation of beta-band oscillations. On this system, a proportional regulation of the firing rate reduces the gain of the subthalamo-pallidal...

article

Robustness of Stochastic Discrete-Time Switched Linear Systems With Application to Control With Shared Resources

Luca Greco, Antoine Chaillet, Elena Panteley

IEEE Transactions on Automatic Control > 2015 > 60 > 12 > 3168 - 3179

Motivated by control applications relying on shared resources (such as computation time or bandwidth), we analyze the stability and robustness of discrete-time switched linear systems with stochastic commutations. We show that a wide class of shared resources control strategies can be modeled by a stochastic jump linear system involving two stochastic processes. The class of systems we study encompasses...

chapter

Analysis and control of Andronov-Hopf oscillators with applications to neuronal populations

Elena Panteley, Antonio Loria, Ali El Ati

2015 54th IEEE Conference on Decision and Control (CDC) > 596 - 601

2015 54th IEEE Conference on Decision and Control (CDC)

One of the main motivations for analysis of networks of nonlinear oscillators lies in the role these play in undertanding synchronization and collective behavior in chemical and biological systems. In medical systems such networks are used for synchronization analysis of neuronal populations and control design for synchrony suppression. In this paper we use tools issued from nonlinear stability theory...

chapter

On practical synchronization of heterogeneous networks of nonlinear systems: application to chaotic systems

Elena Panteley, Antonio Loria, Laurie Conteville

2015 American Control Conference (ACC) > 5359 - 5364

2015 American Control Conference (ACC)

We employ stability theory to study the problem of synchronization of networked heterogeneous systems. Typically, for the case of homogeneous networks, this comes to analyzing the stability and attractivity of a synchronization manifold. In the case of heterogeneous networks, the synchronization manifold does not necessarily exist. Instead, we show that an average dynamics emerges, to which the dynamics...

chapter

A new notion of persistency-of-excitation for UGAS of NLTV systems: Application to stabilisation of nonholonomic systems

Antonio Loria, Elena Panteley, Andrew Teel

1999 European Control Conference (ECC) > 1363 - 1368

1999 European Control Conference (ECC)

In this note we propose a new persistency of excitation condition for stability of nonlinear time-varying (NLTV) systems, which applies to adaptive systems with state-dependent regressor signals. We give sufficient conditions for uniform global asymptotic stability (UGAS). This result gives a transparent interpretation to the time-varying stabilization mechanism for nonholonomic systems. For 3-degrees-of-freedom...

INFONA - science communication portal

Search results for: Elena Panteley

Synchronization patterns in Stuart–Landau networks: a reduced system approach

A Separation Principle for Underactuated Lossless Lagrangian Systems

Synchronization and Dynamic Consensus of Heterogeneous Networked Systems

A robust δ-persistently exciting controller for formation-agreement stabilization of multiple mobile robots

Singular-perturbations-based analysis of synchronization in heterogeneous networks: A case-study

A separation principle for a class of euler-lagrange systems

Global position-feedback tracking control of flexible-joint robots

2 Cascaded Nonlinear Time-Varying Systems: Analysis and Design

6 Stability, Told by Its Developers

Advanced Topics in Control Systems Theory

Advanced Topics in Control Systems Theory

Optimal Controller Gain Tuning for Robust Stability of Spacecraft Formation

Adaptation Is Unnecessary in formula><tex>$\\mathcal{L}_{1}$<\/tex><\/formula>-Adaptive Control: What Makes an Adaptive Controller \"Adaptive\"?

Robustness of ISS systems to inputs with limited moving average: Application to spacecraft formations

Comments on ‘comparison of architectures and robustness of model reference adaptive controllers and L₁‐adaptive controllers’

Closed-loop firing rate regulation of two interacting excitatory and inhibitory neural populations of the basal ganglia

Robustness of Stochastic Discrete-Time Switched Linear Systems With Application to Control With Shared Resources

Analysis and control of Andronov-Hopf oscillators with applications to neuronal populations

On practical synchronization of heterogeneous networks of nonlinear systems: application to chaotic systems

A new notion of persistency-of-excitation for UGAS of NLTV systems: Application to stabilisation of nonholonomic systems

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