Members
Overall Objectives
Research Program
Application Domains
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
Dissemination
Bibliography
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Bibliography

Major publications by the team in recent years
[1]
V. Acary, O. Bonnefon, B. Brogliato.
Nonsmooth Modeling and Simulation for Switched Circuits, Lecture Notes in Electrical Engineering, Springer Verlag, 2011, vol. 69.
[2]
V. Acary, B. Brogliato.
Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics, Lecture Notes in Applied and Computational Mechanics, Springer Verlag, 2008, vol. 35.
[3]
V. Acary, B. Brogliato.
Implicit Euler numerical scheme and chattering-free implementation of sliding mode systems, in: Systems and Control Letters, 2010, vol. 59, pp. 284-293.
[4]
J. Bonnans, J. Gilbert, C. Lemaréchal, C. Sagastizábal.
Numerical Optimization, Springer Verlag, 2003.
[5]
B. Brogliato.
Some perspectives on the analysis and control of complementarity systems, in: IEEE Trans. Automatic Control, 2003, vol. 48, no 6, pp. 918-935.
[6]
B. Brogliato.
Nonsmooth Mechanics, Springer Verlag, 1999, 2nd edition.
[7]
B. Brogliato, R. Lozano, B. Maschke, O. Egeland.
Dissipative Systems Analysis and Control, Springer Verlag, London, 2007, 2nd edition.
[8]
B. Brogliato, S. Niculescu, P. Orhant.
On the control of finite-dimensional mechanical systems with unilateral constraints, in: IEEE Trans. Automatic Control, 1997, vol. 42, no 2, pp. 200-215.
[9]
G. Daviet, F. Bertails-Descoubes, L. Boissieux.
A hybrid iterative solver for robustly capturing Coulomb friction in hair dynamics, in: ACM Transactions on Graphics (Proceedings of the ACM SIGGRAPH Asia'11 Conference, December 2011, vol. 30.
http://www.inrialpes.fr/bipop/people/bertails/Papiers/hybridIterativeSolverHairDynamicsSiggraphAsia2011.html
[10]
D. Henrion, J. Malick.
Projection methods for conic feasibility problems: applications to polynomial sum-of-squares decompositions, in: Optimization Methods and Software, December 2009.
[11]
J.-B. Hiriart-Urruty, C. Lemaréchal.
Convex Analysis and Minimization Algorithms, Springer Verlag, Heidelberg, 1993, Two volumes.
[12]
C. Lemaréchal.
Lagrangian relaxation, in: Computational Combinatorial Optimization, M. Jünger, D. Naddef (editors), Springer Verlag, 2001, pp. 115-160.
[13]
C. Lemaréchal, F. Oustry.
Semi-definite relaxations and Lagrangian duality with application to combinatorial optimization, Inria, 1999, no 3710.
http://hal.inria.fr/inria-00072958
[14]
C. Lemaréchal, F. Oustry, C. Sagastizábal.
The 𝒰-Lagrangian of a convex function, in: Trans. AMS, 2000, vol. 352, no 2, pp. 711-729.
[15]
C. Liu, Z. Zhen, B. Brogliato.
Frictionless multiple impacts in multibody systems: Part I. Theoretical framework, in: Proceedings of the Royal Society A, Mathematical, Physical and Engineering Sciences, December 2008, vol. 464, no 2100, pp. 3193-3211.
[16]
S. Nguyen, B. Brogliato.
Multiple Impacts in Dissipative Granular Chains, Lecture Notes in Applied and Computational Mechanics, Springer Verlag, 2014, vol. 72.
[17]
A. Tonnelier.
Propagation of spike sequences in neural networks, in: SIAM J. Appl. Dyn. Syst., 2010, vol. 9.
[18]
G. Zheng, A. Tonnelier, D. Martinez.
Voltage-stepping schemes for the simulation of spiking neural networks, in: Journal of Computational Neuroscience, 2009, vol. 26, no 3.
Publications of the year

Articles in International Peer-Reviewed Journals

[19]
V. Acary, H. De Jong, B. Brogliato.
Numerical simulation of piecewise-linear models of gene regulatory networks using complementarity systems, in: Physica D: Nonlinear Phenomena, February 2014, vol. 269, pp. 103-119. [ DOI : 10.1016/j.physd.2013.11.013 ]
https://hal.inria.fr/hal-00924044
[20]
B. Brogliato.
Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction, in: Multibody System Dynamics, August 2014, vol. 32, no 2, pp. 175-216. [ DOI : 10.1007/s11044-013-9392-5 ]
https://hal.inria.fr/hal-01088288
[21]
B. Brogliato, D. Goeleven.
Singular mass matrix and redundant constraints in unilaterally constrained Lagrangian and Hamiltonian systems, in: Multibody System Dynamics, October 2014, pp. 1-23. [ DOI : 10.1007/s11044-014-9437-4 ]
https://hal.inria.fr/hal-01088286
[22]
B. Brogliato, A. Tanwani, C. Prieur.
Stability Notions for a Class of Nonlinear Systems with Measure Controls, in: Mathematics of Control, Signals, and Systems, 2014.
https://hal.inria.fr/hal-01074144
[23]
O. Brüls, V. Acary, A. Cardona.
Simultaneous enforcement of constraints at position and velocity levels in the nonsmooth generalized-α scheme, in: Computer Methods in Applied Mechanics and Engineering, November 2014, vol. 281, pp. 131-161. [ DOI : 10.1016/j.cma.2014.07.025 ]
https://hal.inria.fr/hal-01059823
[24]
A. Escande, N. Mansard, P.-B. Wieber.
Hierarchical quadratic programming: Fast online humanoid-robot motion generation, in: The International Journal of Robotics Research, June 2014, vol. 33, no 7, pp. 1006-1028.
https://hal.archives-ouvertes.fr/hal-00751924
[25]
G. James, E. Pelinovsky.
Gaussian solitary waves and compactons in Fermi-Pasta-Ulam lattices with Hertzian potentials, in: Proceedings of the Royal Society of London, 2014, vol. 470, no 2165, DOI: 10.1098/rspa.2013.0462.
https://hal.archives-ouvertes.fr/hal-00844170
[26]
N. Krislock, J. Malick, F. Roupin.
Improved semidefinite bounding procedure for solving Max-Cut problems to optimality, in: Mathematical Programming, February 2014, vol. 143, no 1-2, pp. 61-86. [ DOI : 10.1007/s10107-012-0594-z ]
https://hal.archives-ouvertes.fr/hal-00665968
[27]
C. Prieur, A. Teel, L. Zaccarian.
Relaxed persistent Flow/Jump Conditions for Uniform Global Asymptotic Stability, in: IEEE Transactions on Automatic Control, October 2014, vol. 59, no 10, pp. 2766-2771. [ DOI : 10.1109/TAC.2014.2311611 ]
https://hal.archives-ouvertes.fr/hal-01066807
[28]
T. Schindler, V. Acary.
Timestepping schemes for nonsmooth dynamics based on discontinuous Galerkin methods: Definition and outlook, in: Mathematics and Computers in Simulation, January 2014, vol. 95, pp. 180-199. [ DOI : 10.1016/j.matcom.2012.04.012 ]
https://hal.inria.fr/hal-00762850
[29]
A. Tanwani, B. Brogliato, C. Prieur.
Stability and Observer Design for Lur'e Systems with Multivalued, Nonmonotone, Time-Varying Nonlinearities and State Jumps, in: SIAM Journal on Control and Optimization, 2014, vol. 52, no 6, pp. 3639-3672. [ DOI : 10.1137/120902252 ]
https://hal.inria.fr/hal-01083629
[30]
A. Tonnelier.
Cyclic negative feedback systems: what is the chance of oscillation?, in: Bulletin of Mathematical Biology, May 2014, vol. 76, no 5, pp. 1155-1193. [ DOI : 10.1007/s11538-014-9959-1 ]
https://hal.archives-ouvertes.fr/hal-00919629
[31]
A. Tonnelier.
Threshold Curve for the Excitability of Bidimensional Spiking Neurons, in: Physical Review E, August 2014, vol. 90, no 2, 022701. [ DOI : 10.1103/PhysRevE.90.022701 ]
https://hal.archives-ouvertes.fr/hal-01055045
[32]
H. Zhang, B. Brogliato, C. Liu.
Dynamics of planar rocking-blocks with Coulomb friction and unilateral constraints: comparisons between experimental and numerical data, in: Multibody System Dynamics, June 2014, vol. 32, no 1, pp. 1-25. [ DOI : 10.1007/s11044-013-9356-9 ]
https://hal.archives-ouvertes.fr/hal-00845340

Invited Conferences

[33]
B. Bidégaray-Fesquet, E. Dumas, G. James.
An asymptotic model for small amplitude solutions to Newton's cradle, in: 2014 SIAM Conference on Nonlinear Waves and Coherent Structures, Cambridge, United Kingdom, August 2014, Mini-Symposium on Nonlinear Dynamics of Granular Crystals.
https://hal.archives-ouvertes.fr/hal-00974845
[34]
A. Tanwani, B. Brogliato, C. Prieur.
On output regulation in state-constrained systems: An application to polyhedral case, in: 19th IFAC World Congress (IFAC WC 2014), Le Cap, South Africa, August 2014.
https://hal.archives-ouvertes.fr/hal-00997266

International Conferences with Proceedings

[35]
V. Acary, G. James, F. Pérignon.
Periodic motions of coupled impact oscillators, in: ENOC 2014 - 8th European Nonlinear Dynamics Conference, Vienna, Austria, July 2014.
https://hal.inria.fr/hal-01059824
[36]
V. Acary, G. James, F. Pérignon.
Periodic motions of coupled impact oscillators, in: 11th World Congress on Computational Mechanics (WCCM XI) 5th European Conference on Computational Mechanics (ECCM V) 6th European Conference on Computational Fluid Dynamics (ECFD VI), Barcelona, Spain, July 2014.
https://hal.inria.fr/hal-01062523
[37]
N. Akhadkar, V. Acary, B. Brogliato, M. Abadie.
Analysis of four-bar planar mechanisms with joint clearances, in: ENOC 2014 - European Nonlinear Oscillations Conference, Vienna, Austria, July 2014.
https://hal.inria.fr/hal-01073482
[38]
O. Brüls, V. Acary, A. Cardona.
A Penetration-free Nonosmooth Dynamics Method for Frictionless Contact/Impact Problems, in: WCCM XI - 11th World Congress on Computational Mechanics - 5th European Conference on Computational Mechanics (ECCM V) 6th European Conference on Computational Fluid Dynamics (ECFD VI), Barcelona, Spain, Eugenio Oñate, July 2014.
https://hal.inria.fr/hal-01075153
[39]
O. Brüls, V. Acary, A. Cardona.
The nonsmooth generalized-α scheme with a simultaneous enforcement of constraints at position and velocity levels., in: ENOC 2014 - European Nonlinear Oscillations Conference, Vienna, Austria, July 2014.
https://hal.inria.fr/hal-01073483
[40]
N. Cazy, C. Dune, P.-B. Wieber, P. Robuffo Giordano, F. Chaumette.
Pose Error Correction For Visual Features Prediction, in: IROS - IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, United States, September 2014.
https://hal.inria.fr/hal-01010772
[41]
O. Huber, V. Acary, B. Brogliato.
Enhanced matching perturbation attenuation with discrete-time implementations of sliding-mode controllers, in: ECC - 13th European Control Conference, Strasbourg, France, Control Conference (ECC), 2014 European, IEEE, June 2014, pp. 2606-2611. [ DOI : 10.1109/ECC.2014.6862437 ]
https://hal.inria.fr/hal-01066667
[42]
O. Huber, V. Acary, B. Brogliato, F. Plestan.
Discrete-time twisting controller without numerical chattering: analysis and experimental results with an implicit method, in: CDC 2014 - IEEE 53rd Annual Conference on Decision and Control, Los Angeles, United States, IEEE, December 2014.
https://hal.inria.fr/hal-01066689
[43]
O. Huber, V. Acary, B. Brogliato, F. Plestan.
Numerical chattering-free implementation of an implicit discrete-time twisting controller: analysis and experimental results, in: CDC 2014 - IEEE Conference on Decision and Control, Los Angeles, United States, December 2014, pp. 1-6.
https://hal.archives-ouvertes.fr/hal-01066188
[44]
A. Tanwani, B. Brogliato, C. Prieur.
On Output Regulation in Systems with Differential Variational Inequalities (Long Version), in: 53rd IEEE Conference on Decision and Control (CDC 2014), Los Angeles, United States, December 2014, TuB01.3.
https://hal.archives-ouvertes.fr/hal-01065090
[45]
B. Wang, B. Brogliato, V. Acary, A. Boubakir, F. Plestan.
Experimental comparisons between implicit and explicit implementations of discrete-time sliding mode controllers: towards chattering suppression in output and input signals, in: VVS 2014 - IEEE International Workshop on Variable Structure Systems, Nantes, France, June 2014, pp. 1-6.
https://hal.archives-ouvertes.fr/hal-00980874
[46]
B. Wang, B. Brogliato, V. Acary, A. Boubakir, F. Plestan.
Experimental comparisons between implicit and explicitimplementations of discrete-time sliding mode controllers: towardschattering suppression in output and input signals, in: VSS - 13th International Workshop on Variable Structure Systems, Nantes, France, IEEE, June 2014, pp. 1-6. [ DOI : 10.1109/VSS.2014.6881159 ]
https://hal.inria.fr/hal-01087397

Conferences without Proceedings

[47]
V. Acary, H. De Jong, B. Brogliato.
Numerical simulation of piecewise-linear models of gene regulatory networks using complementarity systems (Extended Abstract), in: MTNS 2014 - 21st International Symposium on Mathematical Theory of Networks and Systems, Groningen, Netherlands, July 2014.
https://hal.inria.fr/hal-01103557
[48]
B. Bidégaray-Fesquet, E. Dumas, G. James.
Un modèle asymptotique pour les solutions de faible amplitude du berceau de Newton, in: CANUM 2014 - Congrès National d'Analyse Numérique, Carry-le-Rouet, France, March 2014, Mini-Symposium on Nonlinear Dynamics of Granular Crystals.
https://hal.archives-ouvertes.fr/hal-00974878
[49]
S. Zaourar-Michel, J. Malick.
Accélération de la méthode de décomposition de Benders, in: ROADEF - 15ème congrès annuel de la Société française de recherche opérationnelle et d'aide à la décision, Bordeaux, France, Société française de recherche opérationnelle et d'aide à la décision, February 2014.
https://hal.archives-ouvertes.fr/hal-00946325

Scientific Books (or Scientific Book chapters)

[50]
G. James, Y. Starosvetsky.
Breather solutions of the discrete p-Schrödinger equation, in: Localized Excitations in Nonlinear Complex Systems, R. Carretero-González, J. Cuevas-Maraver, D. Frantzeskakis, N. Karachalios, P. Kevrekidis, F. Palmero-Acebedo (editors), Nonlinear Systems and Complexity, volume 7, Springer International Publishing, 2014, pp. 77-115, To appear in Springer Series on Wave Phenomena. [ DOI : 10.1007/978-3-319-02057-0_4 ]
https://hal.archives-ouvertes.fr/hal-00849582

Internal Reports

[51]
V. Acary.
Energy conservation and dissipation properties of time-integration methods for the nonsmooth elastodynamics with contact, September 2014, no RR-8602, 29 p.
https://hal.inria.fr/hal-01067691
[52]
V. Acary, M. Brémond, T. Koziara, F. Pérignon.
FCLIB: a collection of discrete 3D Frictional Contact problems, February 2014, no RT-0444, 34 p.
https://hal.inria.fr/hal-00945820
[53]
A. Blumentals, B. Brogliato, F. Bertails-Descoubes.
The contact problem in Lagrangian systems subject to bilateral and unilateral constraints, with or without sliding Coulomb's friction: A tutorial, 2014.
https://hal.archives-ouvertes.fr/hal-01096394
[54]
A. Danilidis, J. Malick, H. Sendov.
On the structure of locally symmetric manifolds, April 2014, To appear in Journal of Convex Analysis.
https://hal.archives-ouvertes.fr/hal-00972268
[55]
A. Danilidis, J. Malick, H. Sendov.
Spectral (Isotropic) Manifolds and Their Dimension, January 2014, To appear in Journal d'Analyse Mathematique.
https://hal.archives-ouvertes.fr/hal-00972281
[56]
J. Michalczyk, M. Brémond, V. Acary, R. Pissard-Gibollet.
Exomars Rover Mechanical Modeling with Siconos, July 2014, no RT-0448, 41 p.
https://hal.inria.fr/hal-01025785
[57]
F. Pierucci, Z. Harchaoui, J. Malick.
A smoothing approach for composite conditional gradient with nonsmooth loss, Inria Grenoble, July 2014, no RR-8662.
https://hal.inria.fr/hal-01096630
[58]
T. Schindler, S. Rezaei, J. Kursawe, V. Acary.
Half-explicit timestepping schemes on velocity level based on time-discontinuous Galerkin methods, Inria Grenoble, October 2014, no RR-8623, 44 p.
https://hal.inria.fr/hal-01078398

Other Publications

[59]
V. Acary, M. Brémond.
An open question : How to solve efficiently 3D frictional contact problem ?, February 2014, Computational Contact Mechanics: Advances and Frontiers in Modeling Contact (14w5147).
https://hal.inria.fr/hal-01062771
[60]
N. Krislock, J. Malick, F. Roupin.
Computational results of a semidefinite branch-and-bound algorithm for k-cluster, January 2014.
https://hal.inria.fr/hal-00717212
[61]
B. Wang, B. Brogliato, V. Acary, A. Boubakir, F. Plestan.
Comparisons between implicit and explicit discrete-time implementations of equivalent-control-based sliding mode controllers: input and output chattering suppression via the implicit method, November 2014.
https://hal.inria.fr/hal-01087400
References in notes
[62]
B. Brogliato.
Absolute stability and the Lagrange-Dirichlet theorem with monotone multivalued mappings, in: Systems and Control Letters, 2004, vol. 51, pp. 543-553.
[63]
B. Brogliato, D. Goeleven.
Well-posedness, stability and invariance results for a class of multivalued Lur'e dynamical systems, in: Nonlinear Analysis: Theory, Methods and Applications, 2011, vol. 74, pp. 195-211.
[64]
B. Brogliato, D. Goeleven.
Existence, uniqueness of solutions and stability of nonsmooth multivalued Lur'e dynamical systems, in: Journal of Convex Analysis, 2013, vol. 20, no 3, pp. 881-900.
[65]
J. Malick, F. Roupin.
On the bridge between combinatorial optimization and nonlinear optimization: a family of semidefinite bounds for 0-1 quadratic problems leading to quasi-Newton methods, in: Math. Programming B, 2011, To appear.
[66]
F. Rendl, G. Rinaldi, A. Wiegele.
Solving Max-cut to optimality by intersecting semidefinite and polyedral relaxations, in: Math. Programming, 2010, vol. 121, pp. 307-335.
[67]
H. Zhang, B. Brogliato, C. Liu.
Study of the planar rocking-block dynamics with Coulomb friction: Critical kinetic angles, in: ASME Journal of Computational and Nonlinear Systems, April 2013, vol. 8, no 2, 11 p, doi.org/10.1115/1.4007056.