Sylvain J. Durand

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This paper deals with the development and implementation of a cheap Micro Attitude and Heading Reference System (AHRS) using low-cost inertial and magnetic sensors. The orientation is parameterized with unit quaternion and the data fusion is done unifying a quaternion linear formulation of Wahba's problem with a Multiplicative Extended Kalman Filter. It(More)
In this paper, a discrete state feedback Linear Quadratic Regulator (LQR) for event-triggered control is presented. To ensure zero steady state error in the case of such controllers, one normally extends the states with an integral action. Instead of using integral action, the idea is to estimate the disturbance causing the steady state error and use this(More)
Low-power consumption has emerged as a very important issue in the design of integrated circuits in CMOS technology. The basic idea behind low-power RISC-like architectures is to reduce the number of executed instructions and clock cycles for the execution of a given task. In addition to these architectural issues, important power savings have been obtained(More)
Although periodicity simplifies design and analysis in control theory, it results in a conservative usage of resources (because the control signal is computed and updated at the same rate regardless whether is really required or not). The event-triggered paradigm is proposed as a solution to reduce the control updates (and, consequently, the resource(More)
This paper presents the development of a quaternion-based nonlinear event-triggered control for the attitude stabilization of Flying robots. Firstly, it is proved the existence of a Control Lyapunov Function. Unlike some previously proposed schemes, the aim of this paper is to propose a new and simpler event function. The control law ensures the asymptotic(More)
This paper presents the development of a collaborative event-based control applied to the problem of consensus and formation of a group of VTOL-UAVs (Vertical Take-off and Landing, Unmanned Aerial Vehicles). Each VTOL-UAV decides, based on the difference of its current state (linear position and velocity) and its latest broadcast state, when it has to send(More)
The First International Conference on Event-Based Control, Communication and Signal Processing EBCCSP 2015 is an international technical event that aims at bringing together researchers, who are interested in promoting, developing and utilizing the event-based mechanisms, from broad engineering disciplines including control, communication, signal(More)
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