Team, Visitors, External Collaborators
Overall Objectives
Research Program
Application Domains
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
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Major publications by the team in recent years
V. Acary, B. Brogliato.
Numerical methods for nonsmooth dynamical systems. Applications in mechanics and electronics, Lecture Notes in Applied and Computational Mechanics 35. Berlin: Springer. xxi, 525 p. , 2008.
B. Brogliato.
Nonsmooth mechanics, Communications and Control Engineering Series, Third, Springer, [Cham], 2016, xxii+629 p, Models, dynamics and control.
Publications of the year

Articles in International Peer-Reviewed Journals

B. Brogliato, J. Kövecses, V. Acary.
The contact problem in Lagrangian systems with redundant frictional bilateral and unilateral constraints and singular mass matrix. The all-sticking contacts problem, in: Multibody System Dynamics, 2020, vol. 48, no 2, pp. 151-192. [ DOI : 10.1007/s11044-019-09712-1 ]
B. Brogliato, A. Polyakov, D. Efimov.
The implicit discretization of the super-twisting sliding-mode control algorithm, in: IEEE Transactions on Automatic Control, 2019, pp. 1-8, forthcoming. [ DOI : 10.1109/TAC.2019.2953091 ]
B. Brogliato, A. Tanwani.
Dynamical systems coupled with monotone set-valued operators: Formalisms, applications, well-posedness, and stability, in: SIAM Review, 2019, pp. 1-125, forthcoming.
A. Ferrante, A. Lanzon, B. Brogliato.
A direct proof of the equivalence of side conditions for strictly positive real matrix transfer functions, in: IEEE Transactions on Automatic Control, 2020, vol. 65, no 1, pp. 450-452. [ DOI : 10.1109/TAC.2019.2918123 ]
O. Huber, V. Acary, B. Brogliato.
Lyapunov stability analysis of the implicit discrete-time twisting control algorithm, in: IEEE Transactions on Automatic Control, 2019, pp. 1-8, forthcoming. [ DOI : 10.1109/TAC.2019.2940323 ]
G. James, K. Vorotnikov, B. Brogliato.
Kuwabara-Kono numerical dissipation: a new method to simulate granular matter, in: IMA Journal of Applied Mathematics, 2019, pp. 1-29, forthcoming.
F. Miranda-Villatoro, F. Castaños, B. Brogliato.
Continuous and discrete-time stability of a robust set-valued nested controller, in: Automatica, September 2019, vol. 107, pp. 406-417. [ DOI : 10.1016/j.automatica.2019.06.003 ]
A. Polyakov, D. Efimov, B. Brogliato.
Consistent Discretization of Finite-time and Fixed-time Stable Systems, in: SIAM Journal on Control and Optimization, 2019, vol. 57, no 1, pp. 78-103. [ DOI : 10.1137/18M1197345 ]
A. Tonnelier.
Signal propagations along excitable chains, in: SIAM Journal on Applied Dynamical Systems, 2019, vol. 18, no 3, pp. 1391-1419. [ DOI : 10.1137/18M1234229 ]
A. Vieira, B. Brogliato, C. Prieur.
Quadratic Optimal Control of Linear Complementarity Systems: First order necessary conditions and numerical analysis, in: IEEE Transactions on Automatic Control, 2020, pp. 1-8, forthcoming. [ DOI : 10.1109/TAC.2019.2945878 ]

International Conferences with Proceedings

A. Polyakov, D. Efimov, B. Brogliato, M. Reichhartinger.
Consistent Discretization of Locally Homogeneous Finite-time Stable Control Systems, in: ECC 2019 - 18th European Control Conference, Naples, Italy, IEEE, June 2019, pp. 1616-1621. [ DOI : 10.23919/ECC.2019.8795633 ]
A. Vieira, B. Brogliato, C. Prieur.
Optimality conditions for the minimal time problem for Complementarity Systems, in: Joint 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS'19) and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS'19), Vienne, Austria, IFAC, September 2019, pp. 325-330.

Scientific Books (or Scientific Book chapters)

B. Brogliato, R. Lozano, B. Maschke, O. Egeland.
Dissipative Systems Analysis and Control : Theory and Application, Communication and Control Engineering, Springer International Publishing, 2020. [ DOI : 10.1007/978-3-030-19420-8 ]

Internal Reports

V. Acary, O. Bonnefon, M. Brémond, O. Huber, F. Pérignon, S. Sinclair.
An introduction to Siconos, Inria, November 2019, no RT-0340, 97 p.
B. Brogliato.
Nonsmooth Mechanics. Models, Dynamics and Control : Erratum/Addendum, Inria Grenoble - Rhone-Alpes, September 2019, pp. 1-15.
A. Rocca, V. Acary, B. Brogliato.
Index-2 hybrid DAE: a case study with well-posedness and numerical analysis, Inria - Research Centre Grenoble – Rhône-Alpes, November 2019.

Other Publications

V. Acary, F. Bourrier.
Coulomb friction with rolling resistance as a cone complementarity problem, November 2019, working paper or preprint.
C. Bertrand, V. Acary, C. H. Lamarque, A. Ture Savadkoohi.
A robust and efficient numerical finite element method for cables, January 2020, working paper or preprint.
A. Rocca, V. Acary, B. Brogliato.
Index-2 hybrid DAE: a case study with well-posedness and numerical analysis, December 2019, working paper or preprint.
V. N. Vo.
Trajectory tracking design for linear complementarity systems with continuous solutions, university of Limoges, France, July 2019, INTERNSHIP REPORT for the degree of Master in Applied Mathematics.
References in notes
V. Acary.
Higher order event capturing time–stepping schemes for nonsmooth multibody systems with unilateral constraints and impacts., in: Applied Numerical Mathematics, 2012, vol. 62, pp. 1259–1275. [ DOI : 10.1016/j.apnum.2012.06.026 ]
V. Acary.
Projected event-capturing time-stepping schemes for nonsmooth mechanical systems with unilateral contact and Coulomb's friction, in: Computer Methods in Applied Mechanics and Engineering, 2013, vol. 256, pp. 224–250. [ DOI : 10.1016/j.cma.2012.12.012 ]
V. Acary.
Energy conservation and dissipation properties of time-integration methods for the nonsmooth elastodynamics with contact, in: Zeitschrift für Angewandte Mathematik und Mechanik, 2016, vol. 95, no 5, pp. 585–603.
V. Acary, O. Bonnefon, B. Brogliato.
Nonsmooth modeling and simulation for switched circuits., Lecture Notes in Electrical Engineering 69. Dordrecht: Springer. xxiii, 284 p., 2011.
V. Acary, M. Brémond, O. Huber.
On solving frictional contact problems: formulations and comparisons of numerical methods., in: Advanced Topics in Nonsmooth Dynamics, Acary, V. and Brüls. O. and Leine, R. (eds). Springer Verlag, 2018, To appear.
V. Acary, B. Brogliato.
Numerical methods for nonsmooth dynamical systems. Applications in mechanics and electronics, Lecture Notes in Applied and Computational Mechanics 35. Berlin: Springer. xxi, 525 p. , 2008.
V. Acary, B. Brogliato.
Implicit Euler numerical scheme and chattering-free implementation of sliding mode systems, in: Systems and Control Letters, 2010, vol. 59, no 5, pp. 284–295, doi:10.1016/j.sysconle.2010.03.002.
V. Acary, B. Brogliato, D. Goeleven.
Higher order Moreau's sweeping process: mathematical formulation and numerical simulation, in: Mathematical Programming Ser. A, 2008, vol. 113, pp. 133-217.
V. Acary, B. Brogliato, Y. Orlov.
Chattering-Free Digital Sliding-Mode Control With State Observer and Disturbance Rejection, in: IEEE Transactions on Automatic Control, may 2012, vol. 57, no 5, pp. 1087–1101.
V. Acary, M. Brémond, K. Kapellos, J. Michalczyk, R. Pissard-Gibollet.
Mechanical simulation of the Exomars rover using Siconos in 3DROV, in: ASTRA 2013 - 12th Symposium on Advanced Space Technologies in Robotics and Automation, Noordwijk, Netherlands, ESA/ESTEC, May 2013.
V. Acary, M. Brémond, T. Koziara, F. Pérignon.
FCLIB: a collection of discrete 3D Frictional Contact problems, Inria, February 2014, no RT-0444, 34 p.
V. Acary, M. Brémond, O. Huber.
On solving contact problems with Coulomb friction: formulations and numerical comparisons, in: Advanced Topics in Nonsmooth Dynamics - Transactions of the European Network for Nonsmooth Dynamics, S. I. Publishing (editor), June 2018, pp. 375-457. [ DOI : 10.1007/978-3-319-75972-2_10 ]
V. Acary, H. de Jong, B. Brogliato.
Numerical Simulation of Piecewise-Linear Models of Gene Regulatory Networks Using Complementarity Systems Theory, in: Physica D, January 2013, vol. 269, pp. 103–199.
V. Acary, Y. Monerie.
Nonsmooth fracture dynamics using a cohesive zone approach, Inria, 2006, no RR-6032, 56 p.
S. Adly.
A Variational Approach to Nonsmooth Dynamics. Applications in Unilateral Mechanics and Electronics, SpringerBriefs in Mathematics, Springer Verlag, 2017.
N. Akhadkar, V. Acary, B. Brogliato.
Multibody systems with 3D revolute joint clearance, modelling, numerical simulation and experimental validation: an industrial case study, in: Multibody System Dynamics, 2017.
R. Alur, C. Courcoubetis, N. Halbwachs, T. Henzinger, P. Ho, X. Nicollin, A. Olivero, J. Sifakis, S. Yovine.
The algorithmic analysis of hybrid systems, in: Theoretical Computer Science, 1995, vol. 138, no 1, pp. 3–34.
M. Arnold, O. Brüls, A. Cardona.
Error analysis of generalized-α Lie group time integration methods for constrained mechanical systems, in: Numerische Mathematik, Jan 2015, vol. 129, no 1, pp. 149–179.
A. Beck, M. Teboulle.
A Fast Iterative Shrinkage-Thresholding Algorithm for Linear Inverse Problems, in: SIAM Journal on Imaging Sciences, 2009, vol. 2, no 1, pp. 183-202. [ DOI : 10.1137/080716542 ]
V. N. Biktashev, M. A. Tsyganov.
Solitary waves in excitable systems with cross-diffusion, in: Proc. R. Soc. A, 2005, vol. 461, pp. 3711-3730.
F. Bourrier, F. Berger, P. Tardif, L. Dorren, O. Hungr.
Rockfall rebound: comparison of detailed field experiments and alternative modelling approaches, in: Earth Surface Processes and Landforms, 2012, vol. 37, no 6, pp. 656–665.
F. Bourrier, L. Dorren, F. Nicot, F. Berger, F. Darve.
Toward objective rockfall trajectory simulation using a stochastic impact model, in: Geomorphology, 2009, vol. 110, no 3, pp. 68–79. [ DOI : 10.1016/j.geomorph.2009.03.017 ]
B. Brogliato.
Nonsmooth mechanics, Communications and Control Engineering Series, Third, Springer, [Cham], 2016, xxii+629 p, Models, dynamics and control.
B. Brogliato.
Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial, in: Multibody System Dynamics, Aug 2017.
B. Brogliato, A. Polyakov.
Globally stable implicit Euler time-discretization of a nonlinear single-input sliding-mode control system, in: 2015 54th IEEE Conference on Decision and Control (CDC), Dec 2015, pp. 5426-5431.
B. Brogliato, A. Z. Rio.
On the control of complementary-slackness juggling mechanical systems, in: IEEE Transactions on Automatic Control, Feb 2000, vol. 45, no 2, pp. 235-246.
B. Brogliato, L. Thibault.
Existence and uniqueness of solutions for non-autonomous complementarity dynamical systems, in: J. Convex Anal., 2010, vol. 17, no 3-4, pp. 961–990.
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 ]
B. Caillaud.
Hybrid vs. nonsmooth dynamical systems, 2014, synchron,
G. Capobianco, S. R. Eugster.
Time finite element based Moreau‐type integrators, in: International Journal for Numerical Methods in Engineering, 2018, vol. 114, no 3, pp. 215-231.
L. Carloni, R. Passerone, A. Pinto, A. Sangiovanni–Vicentelli.
Languages and tools for hybrid systems design, in: Foundations and Trends in Electronic Design Automation, 2006, vol. 1, no 1/2, pp. 1–193.
Q. Z. Chen, V. Acary, G. Virlez, O. Brüls.
A nonsmooth generalized-α scheme for flexible multibody systems with unilateral constraints, in: International Journal for Numerical Methods in Engineering, 2013, vol. 96, no 8, pp. 487–511.
R. W. Cottle, J. Pang, R. E. Stone.
The Linear Complementarity Problem, Academic Press, Inc., Boston, MA, 1992.
L. Dorren, F. Berger, M. Jonsson, M. Krautblatter, M. Mölk, M. Stoffel, A. Wehrli.
State of the art in rockfall – forest interactions, in: Schweizerische Zeitschrift fur Forstwesen, 2007, vol. 158, no 6, pp. 128-141.
F. Dubois, V. Acary, M. Jean.
The Contact Dynamics method: A nonsmooth story , in: Comptes Rendus Mécanique, March 2018, vol. 346, no 3, pp. 247-262. [ DOI : 10.1016/j.crme.2017.12.009 ]
S. Dupire, F. Bourrier, J.-M. Monnet, S. Bigot, L. Borgniet, F. Berger, T. Curt.
Novel quantitative indicators to characterize the protective effect of mountain forests against rockfall, in: Ecological Indicators, 2016, vol. 67, pp. 98–107. [ DOI : 10.1016/j.ecolind.2016.02.023 ]
F. Facchinei, J. S. Pang.
Finite-dimensional Variational Inequalities and Complementarity Problems, Springer Series in Operations Research, Springer Verlag NY. Inc., 2003, vol. I & II.
A. F. Filippov.
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M. P. Friedlander, D. Orban.
A primal–dual regularized interior-point method for convex quadratic programs, in: Mathematical Programming Computation, 2012, vol. 4, no 1, pp. 71–107.
D. Goeleven.
Complementarity and Variational Inequalities in Electronics, Academic Press, 2017.
S. Greenhalgh, V. Acary, B. Brogliato.
On preserving dissipativity properties of linear complementarity dynamical systems with the θ-method, in: Numerische Mathematik, 2013, vol. 125, pp. 601–637.
F. Génot, B. Brogliato.
New results on Painlevé Paradoxes, in: European Journal of Mechanics - A. solids, 1999, vol. 18, pp. 653-677.
T. Henzinger.
The Theory of Hybrid Automata, in: Proceedings of the Eleventh Annual IEEE Symposium on Logic in Computer Science (LICS), 1996, pp. 278-292.
J. Hiriart-Urruty, C. Lemaréchal.
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J. Hiriart-Urruty, C. Lemaréchal.
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O. Huber, V. Acary, B. Brogliato.
Lyapunov stability and performance analysis of the implicit discrete sliding mode control, in: IEEE Transactions on Automatic Control, 2016, vol. 61, no 10, pp. 3016-3030, In press.
O. Huber, V. Acary, B. Brogliato, F. Plestan.
Implicit discrete-time twisting controller without numerical chattering: analysis and experimental results, in: Control Engineering Practice, 2016, vol. 46, pp. 129–141.
O. Huber, B. Brogliato, V. Acary, A. Boubakir, F. Plestan, B. Wang.
Experimental results on implicit and explicit time-discretization of equivalent-control-based sliding-mode control, in: Recent Trends in Sliding Mode Control, L. Fridman, J. Barbot, F. Plestan (editors), IET, 2016.
G. James.
Periodic travelling waves and compactons in granular chains, in: J. Nonlinear Sci., 2012, vol. 22, pp. 813-848.
G. James, P. G. Kevrekidis, J. Cuevas.
Breathers in oscillator chains with Hertzian interactions, in: Physica D, 2013, vol. 251, pp. 39–59.
M. Jean, V. Acary, Y. Monerie.
Non Smooth Contact dynamics approach of cohesive materials, in: Philisophical Transactions : Mathematical, Physical & Engineering Sciences, The Royal Society, London A, 2001, vol. A359, no 1789, pp. 2497–2518.
G. Kerschen, M. Peeters, J. Golinval, A. Vakakis.
Nonlinear normal modes, Part I: A useful framework for the structural dynamicist, in: Mechanical Systems and Signal Processing, 2009, vol. 23, no 1, pp. 170–194, Special Issue: Non-linear Structural Dynamics. [ DOI : 10.1016/j.ymssp.2008.04.002 ]
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Simulation of rockfall trajectories with consideration of rock shape, in: Multibody System Dynamics, Aug 2014, vol. 32, no 2, pp. 241–271.
R. Leine, N. van de Wouw.
Stability and Convergence of Mechanical Systems with Unilateral Constraints, Lecture Notes in Applied and Computational Mechanics, Springer Verlag, 2008, vol. 36.
L. Liu, G. James, P. Kevrekidis, A. Vainchtein.
Nonlinear waves in a strongly resonant granular chain, in: Nonlinearity, 2016, pp. 3496-3527.
F. A. Miranda-Villatoro, B. Brogliato, F. Castanos.
Multivalued Robust Tracking Control of Lagrange Systems: Continuous and Discrete–Time Algorithms, in: IEEE Transactions on Automatic Control, 2017, vol. PP, no 99, 1 p.
J. E. Morales, G. James, A. Tonnelier.
Solitary waves in the excitable Burridge-Knopoff model, Inria Grenoble - Rhône-Alpes, December 2016, no RR-8996, To appear in Wave Motion.
J. E. Morales, G. James, A. Tonnelier.
Traveling waves in a spring-block chain sliding down a slope, in: Phys. Rev. E 96, 2017, vol. 96, no 012227.
Y. Nesterov.
A method of solving a convex programming problem with convergence rate O(1/k2), in: Soviet Mathematics Doklady, 1983, vol. 27, no 2, pp. 372–376.
N. Nguyen, B. Brogliato.
Multiple Impacts in Dissipative Granular Chains, Lecture Notes in Applied and Computational Mechanics, Springer Verlag, 2014, vol. 72, XXII, 234 p. 109 illus..
F. Z. Nqi, M. Schatzman.
Computation of Lyapunov Exponents for dynamical system with impact, in: Applied Mathematial Sciences, 2010, vol. 4, no 5, pp. 237–252.
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Granular crystals: Nonlinear dynamics meets materials engineering, in: Physics Today, 2015, vol. 68, no 44.
R. Rockafellar.
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T. Schindler, V. Acary.
Timestepping schemes for nonsmooth dynamics based on discontinuous Galerkin methods: Definition and outlook, in: Mathematics and Computers in Simulation, 2013, vol. 95, pp. 180–199. [ DOI : 10.1016/j.matcom.2012.04.012 ]
T. Schindler, S. Rezaei, J. Kursawe, V. Acary.
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McKean caricature of the FitzHugh-Nagumo model: traveling pulses in a discrete diffusive medium, in: Phys. Rev. E, 2003, vol. 67, no 036105.
A. Vieira, B. Brogliato, C. Prieur.
Optimal control of linear complementarity systems, in: IFAC World Congress on Automatic Control, Toulouse, France, 2017.
B. Wang, B. Brogliato, V. Acary, A. Boubakir, F. Plestan.
Experimental comparisons between implicit and explicit implementations of discrete-time sliding mode controllers: towards input and output chattering suppression, in: IEEE Transactions on Control Systems Technology, 2015, vol. 23, no 5, pp. 2071–2075.
M. di Bernardo, C. Budd, A. Champneys, P. Kowalczyk.
Piecewise-smooth dynamical systems : theory and applications, Applied mathematical sciences, Springer, London, 2008.