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Basile Graf

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Nonlinear Analysis of a Coaxial Microhelicopter with a Bell Stabilizer Bar

Philippe Müllhaupt, Basile Graf

Nonlinear modeling of coaxial microhelicopters is studied. All equations are derived using a Lagrangian approach and simplified aerodynamics assumptions so that all parameters have a physical meaning; there is no “black box.” The model is constructed with ...

Amer Helicopter Soc Inc2014

Finite Dimensional Methods for Differential Flatness

Basile Graf

In Control System Theory, the study of continuous-time, finite dimensional, underdetermined systems of ordinary differential equations is an important topic. Classification of systems in different categories is a natural initial step to the analysis of a g ...

EPFL2013

Application of Legendrian Foliations in Differential Flatness Problems

Philippe Müllhaupt, Basile Graf

Instances of control systems are presented for which dynamical feedback linearizability can be assessed from differential forms of highest relative degree after some “contact” transformation has been applied. This bypasses the need to find a polynomial dif ...

2012

Bilinear Control Systems with Forced Integrable Filtration

Philippe Müllhaupt, Basile Graf

A class of nonlinear systems and a filtration of the corresponding codistributions are presented. The filtration enjoys some strong integrability property which allows an easy computation of a linearizing normal form whenever the algorithm terminates with ...

American Institute of Physics2012

Feedback Linearizability and Flatness in Restricted Control Systems

Philippe Müllhaupt, Basile Graf

The loss of feedback linearizability of control systems is studied when restricted to a submanifold of the state-space. The slow approximation of singularly perturbed systems also falls into this category. We show that even if the static-feedback lineariza ...

2011

Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

Philippe Müllhaupt, Basile Graf

A modeling framework is proposed for the control of rigid and flexible cable-like systems such as cranes, together with a systematic algorithm for computing flat outputs of mechanical systems for which the flat output is a linear combination of the free co ...

2010

Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

Philippe Müllhaupt, Basile Graf

IEEE2010

Solid on liquid deposition

Wilfried Noell, Basile Graf

A process for the deposition of a solid layer onto a liquid is presented. The polymer poly-di-chloro-paraxylylene, also known as Parylene C, was grown on low vapour pressure liquids using the conventional low pressure chemical vapour deposition process. A ...

Elsevier2010