C
Claude Samson
Researcher at French Institute for Research in Computer Science and Automation
Publications - 118
Citations - 8189
Claude Samson is an academic researcher from French Institute for Research in Computer Science and Automation. The author has contributed to research in topics: Nonholonomic system & Mobile robot. The author has an hindex of 37, co-authored 117 publications receiving 7805 citations.
Papers
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Proceedings ArticleDOI
Field-oriented control of induction motors by application of the transverse function control approach
Pascal Morin,Claude Samson +1 more
TL;DR: By using the structural parenthood of induction motors equations and the generalized nonholonomic integrator, the present note shows how singularity-free versions of the field-oriented control method are derived by direct application of the transverse function (t.f.) control approach developed by the authors for the stabilization of general controllable driftless systems.
Advanced Robotics and Autonomous Systems
Patrick Rives,Pascal Morin,Patricia Maleyran,Christine Claux,Claude Samson,Ezio Malis,Vincent Brandou,Tiago Ferreira Goncalves,Gabriela Gallegos,Minh-Duc Hua,Cyril Joly,Mauro Maya Mendez,Adan Salazar,Geraldo Silveira,Andrew I. Comport,Youssef Rouchdy,Hicham Hadj-Abdelkader,Benoit Vertut,Melaine Gautier +18 more
Proceedings ArticleDOI
Control of two-steering-wheels vehicles with the Transverse Function approach
Pascal Morin,Claude Samson +1 more
TL;DR: The Transverse Function approach is used to derive feedback laws which ensure practical stabilization of arbitrary reference trajectories in the cartesian space, and asymptotic stabilization when the trajectory is feasible by the nonholonomic vehicle.
Journal Article
Experiments in real-time vision-based point stabilization of a nonholonomic mobile manipulator
Dimitris P. Tsakiris,Konstantinos Kapellos,Claude Samson,Patrick Rives,Jean-Jacques Borrelly +4 more
TL;DR: The stabilization to a desired pose of a nonholonomic mobile robot carrying a manipulator arm, based on sensory data provided by a camera mounted on the end-effector of the arm, is considered, and a continuous time-varying state feedback is implemented.
Proceedings ArticleDOI
Feedback control of a wheeled snake mechanism with the Transverse Function approach
Pascal Morin,Claude Samson +1 more
TL;DR: The Transverse Function approach is applied to the tracking control problem for a nonholonomic three-segments/snake-like wheeled mechanism similar to a planar low-dimensional version of Hirose's Active Cord Mechanism, and yields smooth (nonlinear) feedbacks in the spirit of Linear Control Theory.