Professor, CentraleSupélec, University Paris-Saclay

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

+33 (0)1 69 85 13 74


About mePhD Students

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, 2019

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, 100, p. 3113–3125, 2018

Convex Liftings: Theory and Control Applications

Nguyen, Gulan, Olaru, Rodriguez-Ayerbe
IEEE Transactions on Automatic Control, p. 1, 2018

The self-organization of ball bouncing

Avrin, Siegler, Makarov, Rodriguez-Ayerbe
Biol Cybern, Springer Verlag, 2018

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, 2018

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, 2018

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


Human arm impedance estimation in dynamic human-robot interaction, a preliminary study

Fortineau, Siegler, Makarov, Rodriguez-Ayerbe
46ème Congrès Société Biomécanique, Saint-Etienne, France, 2021

Towards a seamless experimental protocol for human arm impedance estimation in an interactive dynamic task

Fortineau, Makarov, Rodriguez-Ayerbe, Siegler
2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), Vancouver, Canada, 2021

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
ECC 2019 – European Control Conference, 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


Patents and software



Robustification de lois de commande prédictive par la paramétrisation de Youla

Université Paris XI – Orsay, 2003