Didier Aubry

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This paper presents a Generalized Predictive Control (GPC) extension, called Bilateral GPC (BGPC), for teleoperation systems in the presence of both communication delays and slave force feedback. The originality of the proposed approach is to take into account the case where the reference trajectory is not a priori known. This difficulty is due to the(More)
Home automation is now implemented in many retirement homes in order to improve elderly's autonomy and safety. Smart homes allow to monitor the activities of elderly persons using information coming from different sensors. The ADL (Activities of Daily Living) are used to evaluate the ability of a person to perform on their own a selection of the activities(More)
Indoor location sensing systems constitute a growing field of research involving both theoretical and applicative challenges. These systems are used in several applications of sensor networks such as tracking and monitoring. The design of an indoor positioning system depends on sensor's technology. The most common positioning systems are based on infrared(More)
This paper presents a Delayed Generalized Predictive Controller (DGPC) by internal model for bilateral teleoperation systems in the presence of both communication delays and force feedback. First, the Π-freeness algebraic property of mechanical delayed systems, which presents some similarity with the notion of flatness, is used for the slave system to track(More)
The use of smart homes has been increasing greatly in recent years thanks to considerable achievements in technology. Home automation aims to improve person's autonomy and safety. For that reason, many indoor localization systems were developed recently. Nevertheless, their efficiency were improved for a single inhabitant and can not be applied in the(More)
The purpose of this paper is to design a moving horizon observer for mode and continuous state estimation of nonlinear switched systems. Using the past output measurements and the model equations, mode and continuous state estimation is expressed as an optimization problem which is solved using the Gauss-Newton algorithm. The performances of this method are(More)