L2S, CentraleSupélec
Bât. Breguet C3.13
3 rue Joliot Curie
91190 Gif-sur-Yvette, France

+33 (0)1 69 85 13 74


Journal articles


Improving SLM additive manufacturing operation precision with H-infinity controller structure

Rasoanarivo, Dumur, Rodriguez-Ayerbe
CIRP, 33, Elsevier, p. 82-90, 2021

An efficient model predictive control based on Lyapunov function for doubly fed induction generator fed by a T-type inverter

Nguyen, Nguyen, Phan, Vo, Doan, Pham, Nguyen, Rodriguez-Ayerbe, Ngo
Electrical Engineering, 2020

Performance quantification of observer-based robot impact detection under modeling uncertainties

Briquet-Kerestedjian, Makarov, Grossard, Rodriguez-Ayerbe
International Journal of Intelligent Robotics and Applications, 3 (2), p. 207-220, 2019

Lyapunov-Induced Model Predictive Power Control for Grid-Tie Three-Level Neutral-Point-Clamped Inverter With Dead-Time Compensation

Ngo, Vu, Pham, Nguyen, Rodriguez-Ayerbe, Olaru, Do
IEEE Access, 7, p. 166869-166882, 2021

Convex Liftings: Theory and Control Applications

Nguyen, Gulan, Olaru, Rodriguez-Ayerbe
IEEE Transactions on Automatic Control, p. 1, 2021

Contour error pre-compensation for five-axis high speed machining: offline gain adjustment approach

Duong, Rodriguez-Ayerbe, Lavernhe, Tournier, Dumur
International Journal of Advanced Manufacturing Technology, 2021

Perturbations in polyhedral partitions and the related fragility of piecewise affine control.

Koduri, Olaru, Rodriguez-Ayerbe
Bulletin mathématique de la Société des Sciences mathématiques de Roumanie, 61, p. 439 – 452, 2021

Efficient Embedded Model Predictive Vibration Control via Convex Lifting

Gulan, Takacs, Nguyen, Olaru, Rodriguez-Ayerbe, Rohal’-Ilkiv
IEEE Transactions on Control Systems Technology, PP (99), p. 1-15, 2021

The self-organization of ball bouncing

Avrin, Siegler, Makarov, Rodriguez-Ayerbe
Biol Cybern, Springer Verlag, 2021

Co-manipulation with a Library of Virtual Guiding Fixtures

Raiola, Sanchez Restrepo, Chevalier, Rodriguez-Ayerbe, Lamy, Tliba, Stulp
Autonomous Robots, p. 1–15, 2017

Conference papers


Computation of Neural Networks Lyapunov Functions for Discrete and Continuous Time Systems with Domain Of Attraction Maximization

Bocquillon, Feyel, Sandou, Rodriguez-Ayerbe
12th International Conference on Neural Computation Theory and Applications, Virtual Conference, France, 2020

Interactive robotics for human impedance estimation in a rhythmic task

FORTINEAU, Makarov, Rodriguez-Ayerbe, Siegler
2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), Hong-Kong, Chine, 2020

Influence of the Object Stiffness on the Grasp Stability with Compliant Hand Based on Energetic Approach

Vollhardt, Makarov, Caldas, Grossard, Rodriguez-Ayerbe
21st IFAC World Congress, Berlin, Allemagne, 2020

Efficient Construction of Neural Networks Lyapunov Functions with Domain Of Attraction Maximization

Bocquillon, Feyel, Sandou, Rodriguez-Ayerbe
17th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Lieusaint, France, 2020

Commande bio-inspirée de robots pour des tâches rythmiques en interaction avec l’environnement

FORTINEAU, Makarov, Rodriguez-Ayerbe, Siegler
Fédération Demenÿ‐Vaucanson, Palaiseau, France, 2019

LPV Modeling and Control for Dexterous Manipulation with a Multifingered Hand under Geometric Uncertainties

Caldas, Makarov, Grossard, Rodriguez-Ayerbe
2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Hong Kong, Chine, 2019

Energy-based stability analysis for grasp selection with compliant multi-fingered hands

Vollhardt, Makarov, Caldas, Grossard, Rodriguez-Ayerbe
2019 18th European Control Conference (ECC), Naples, Italie, 2019

A dynamical systems approach for pineapple cryopreservation analysis

Villalobos-Olivera, García-Brizuela, Olaru, Rodriguez-Ayerbe, Martinez-Montero
12th IFAC Symposium on Dynamics and Control of Process Systems, including Biosystems DYCOPS 2019, Florianópolis, Brésil, 2019

Galvanometer scanner modeling for Selective Laser Melting deflection system simulation

Rasoanarivo, Rodriguez-Ayerbe, dumur
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), Singapore, Singapour, 2018

Collision-free trajectory planning for overtaking on highways

Ballesteros-Tolosana, Olaru, Rodriguez-Ayerbe, Pita-Gil, Deborne
56th IEEE Conference on Decision and Control (CDC 2017), Melbourne, Australie, 2017


Chapitres d’ouvrages scientifiques

Fully inverse parametric linear/quadratic programming problems via convex liftings

Anh Nguyen, Olaru, Rodriguez-Ayerbe, Hovd, Ion
in Developments in Model-Based Optimization and Control, vol. 464, pp. 27-47, 2021

Implications of Inverse Parametric Optimization in Model Predictive Control

GULAN, Anh Nguyen, Olaru, Rodriguez-Ayerbe, Rohal’-Ilkiv
in Developments in Model-Based Optimization and Control, vol. 464, pp. 49-70, 2021
Autres ouvrages scientifiques
Chapitres d’ouvrages scientifiques

A model predictive control approach for the Pantograph-Catenary positioning system

Chiriac, Olaru, Rodriguez-Ayerbe
in Advances in Knowledge-Based and Intelligent Information and Engineering Systems, pp. 636-645, IOS Press, 2021
Autres ouvrages scientifiques

Commande prédictive explicite d’un convertisseur Buck

Vlad, Rodriguez-Ayerbe, Godoy, LEFRANC
Chapitres d’ouvrages scientifiques

Structures particulières de commande

Godoy, Rodriguez-Ayerbe, Siguerdidjane
in Régulation industrielle, pp. 243-269, éditions Dunod, 2021

Méthodes de commande : synthèse, comparaison et critères de choix

Duc, Godoy, Rodriguez-Ayerbe, Salaun
in Régulation industrielle, pp. 507-510, éditions Dunod, 2021

Robustification d’une loi de commande prédictive polynomiale

Rodriguez-Ayerbe, Boucher
in La Commande Prédictive, pp. 35-67, Hermès, 2006

Patents and software



Robustification de lois de commande prédictive par la paramétrisation de Youla

Université Paris XI – Orsay, 2003