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Vincent Acary

Vincent Acary, INRIA research director. TRIPOP Team
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Présentation

[![JTCAM](https://jtcam.episciences.org/public/BandeauWebv_3.svg)](https://jtcam.episciences.org/) I am a researcher in the [TRIPOP project-team](https://tripop.inrialpes.fr) of the [INRIA center of University Grenoble Alpes](https://www.inria.fr/fr/centre-inria-universite-grenoble-alpes) . I was two years (2014--2016) in Santiago de Chile at INRIA Chile. A short interview in Spanish. My research interests concern the modeling, the analysis and the simulation of nonsmooth dynamical systems. Typical instances are mechanical systems with unilateral constraints, contact, Coulomb's friction, impacts, plasticity, fracture (granular materials, masonry buildings, circuit breakers, robotic arms), electrical circuits with ideal components, or sliding mode control. Many other interesting applications may also be found in physics, biology and ecological economics. I am one of the promoter of the [Journal of Theoretical, Computational and Applied Mechanics (JTCAM)](http://jtcam.episciences.org/) and I am also animating the friendly [European Network for Nonsmooth Dynamics](http://ennsd.gforge.inria.fr/) More info : [personal web site ](http://tripop.inrialpes.fr/people/acary/)

Compétences

Computational Mechanics Nonsmooth Mechanics Contact Numerical methods Scientific computing

Publications

bernard-brogliato
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Discrete-time differentiators: design and comparative analysis

Mohammad Rasool Mojallizadeh , Bernard Brogliato , Vincent Acary
International Journal of Robust and Nonlinear Control, 2021, 31 (16), pp.7679-7723. ⟨10.1002/rnc.5710⟩
Article dans une revue hal-02960923v2
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Lyapunov stability analysis of the implicit discrete-time twisting control algorithm

Olivier Huber , Vincent Acary , Bernard Brogliato
IEEE Transactions on Automatic Control, 2020, 65 (6), pp.2619-2626. ⟨10.1109/TAC.2019.2940323⟩
Article dans une revue hal-01622092v2
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The contact problem in Lagrangian systems with redundant frictional bilateral and unilateral constraints and singular mass matrix. The all-sticking contacts problem

Bernard Brogliato , József Kövecses , Vincent Acary
Multibody System Dynamics, 2020, 48 (2), pp.151-192. ⟨10.1007/s11044-019-09712-1⟩
Article dans une revue hal-02315547v1
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Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation

Narendra Akhadkar , Vincent Acary , Bernard Brogliato
Multibody System Dynamics, 2018, 42 (3), pp.249-282. ⟨10.1007/s11044-017-9584-5⟩
Article dans une revue hal-01562703v1
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Comparison of several formulations and integration methods for the resolution of DAEs formulations in event-driven simulation of nonsmooth frictionless multibody dynamics

Mounia Haddouni , Vincent Acary , Stéphane Garreau , Jean-Daniel Beley , Bernard Brogliato
Multibody System Dynamics, 2017, 41 (3), pp.201-231. ⟨10.1007/s11044-017-9570-y⟩
Article dans une revue hal-01562700v2
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Comments on "Chattering-free digital sliding-mode control with state observer anddisturbance rejection''

Vincent Acary , Bernard Brogliato , Yuri Orlov
IEEE Transactions on Automatic Control, 2016, 61 (11), pp.3707. ⟨10.1109/TAC.2015.2509445⟩
Article dans une revue hal-01243532v1
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Analysis of collocated feedback controllers for four-bar planar mechanisms with joint clearances

Narendra Akhadkar , Vincent Acary , Bernard Brogliato
Multibody System Dynamics, 2016, 38 (2), pp.101-136. ⟨10.1007/s11044-016-9523-x⟩
Article dans une revue hal-01218531v1
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Lyapunov stability and performance analysis of the implicit discrete sliding mode control

Olivier Huber , Vincent Acary , Bernard Brogliato
IEEE Transactions on Automatic Control, 2016, 61 (10), pp.3016-3030. ⟨10.1109/TAC.2015.2506991⟩
Article dans une revue hal-01236159v1
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Implicit discrete-time twisting controller without numerical chattering: analysis and experimental results

Olivier Huber , Vincent Acary , Bernard Brogliato , Franck Plestan
Control Engineering Practice, 2016, 46, pp.129-141. ⟨10.1016/j.conengprac.2015.10.013⟩
Article dans une revue hal-01235899v1
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Experimental Comparisons Between Implicit and Explicit Implementations of Discrete-Time Sliding Mode Controllers: Toward Input and Output Chattering Suppression

Bin Wang , Bernard Brogliato , Vincent Acary , Ahcene Boubakir , Franck Plestan
IEEE Transactions on Control Systems Technology, 2015, 23 (5), pp.2071-2075. ⟨10.1109/TCST.2015.2396473⟩
Article dans une revue hal-01625866v1
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Numerical simulation of piecewise-linear models of gene regulatory networks using complementarity systems

Vincent Acary , Hidde de Jong , Bernard Brogliato
Physica D: Nonlinear Phenomena, 2014, 269, pp.103-119. ⟨10.1016/j.physd.2013.11.013⟩
Article dans une revue hal-00924044v1
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On preserving dissipativity properties of linear complementarity dynamical systems with the $θ$-method

Scott Greenhalgh , Vincent Acary , Bernard Brogliato
Numerische Mathematik, 2013, 125 (4), pp.601-637. ⟨10.1007/s00211-013-0553-5⟩
Article dans une revue hal-00807807v1
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Switching, relay and complementarity systems: A tutorial on their well-posedness and relationships

Carmina Georgescu , Bernard Brogliato , Vincent Acary
Physica D: Nonlinear Phenomena, 2012, Dynamics and Bifurcations of Nonsmooth Systems, 241 (22), pp.50. ⟨10.1016/j.physd.2011.10.014⟩
Article dans une revue hal-00646982v1
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Chattering-Free Digital Sliding-Mode Control with State Observer and Disturbance Rejection

Vincent Acary , Bernard Brogliato , Yuri V Orlov
IEEE Transactions on Automatic Control, 2012, 57 (5), pp.1087-1101. ⟨10.1109/TAC.2011.2174676⟩
Article dans une revue inria-00580713v1
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Time-stepping numerical simulation of switched circuits with the nonsmooth dynamical systems approach

Vincent Acary , Olivier Bonnefon , Bernard Brogliato
IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, 2010, 29 (7), pp.1042-1055. ⟨10.1109/TCAD.2010.2049134⟩
Article dans une revue inria-00423550v1
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Implicit Euler numerical scheme and chattering-free implementation of sliding mode systems

Vincent Acary , Bernard Brogliato
Systems and Control Letters, 2010, 59 (5), pp.284-295. ⟨10.1016/j.sysconle.2010.03.002⟩
Article dans une revue inria-00423576v1
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Higher order Moreau's sweeping process: Mathematical formulation and numerical simulation

Vincent Acary , Bernard Brogliato , Daniel Goeleven
Mathematical Programming, 2008, 113 (1), pp.133-217. ⟨10.1007/s10107-006-0041-0⟩
Article dans une revue inria-00423566v1
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On the equivalence between complementarity systems, projected systems and differential inclusions

Bernard Brogliato , Aris Daniilidis , Claude Lemarechal , Vincent Acary
Systems and Control Letters, 2006, 55 (1), pp.45-51. ⟨10.1016/j.sysconle.2005.04.015⟩
Article dans une revue inria-00423552v1
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Index-2 hybrid DAE: a case study with well-posedness and numerical analysis

Alexandre Rocca , Vincent Acary , Bernard Brogliato
IFAC World Congress 2020, Jul 2020, Berlin, Germany
Communication dans un congrès hal-02391311v1
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Influence of imperfect joints and geometrical tolerances on a circuit breaker dynamics

Narendra Akhadkar , Vincent Acary , Bernard Brogliato
IFToMM WC 2019: Advances in Mechanism and Machine Science, Jun 2019, Krakow, Poland. pp.3069-3078, ⟨10.1007/978-3-030-20131-9_302⟩
Communication dans un congrès hal-02440880v1
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3D Revolute Joint with Clearance in Multibody Systems

Narendra Akhadkar , Vincent Acary , Bernard Brogliato
CK 2017 - 7th International Workshop on Computational Kinematics, May 2017, Poitiers, France. pp.11-18, ⟨10.1007/978-3-319-60867-9_2⟩
Communication dans un congrès hal-01625733v1

Numerical time integration schemes for nonsmooth multibody systems in the event-driven framework

Mounia Haddouni , Vincent Acary , Stéphane Garreau , Jean-Daniel Beley , Bernard Brogliato
PANACM 2015. Pan-American Congress on Computational Mechanics, Apr 2015, Buenos Aires, Argentina
Communication dans un congrès hal-01238422v1
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Discrete-time twisting controller without numerical chattering: analysis and experimental results with an implicit method

Olivier Huber , Vincent Acary , Bernard Brogliato , Franck Plestan
CDC 2014 - IEEE 53rd Annual Conference on Decision and Control, Dec 2014, Los Angeles, United States. pp.4373-4378, ⟨10.1109/CDC.2014.7040071⟩
Communication dans un congrès hal-01066689v1
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Numerical simulation of piecewise-linear models of gene regulatory networks using complementarity systems (Extended Abstract)

Vincent Acary , Hidde de Jong , Bernard Brogliato
MTNS 2014 - 21st International Symposium on Mathematical Theory of Networks and Systems, Jul 2014, Groningen, Netherlands
Communication dans un congrès hal-01103557v1
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Enhanced matching perturbation attenuation with discrete-time implementations of sliding-mode controllers

Olivier Huber , Vincent Acary , Bernard Brogliato
ECC - 13th European Control Conference, Jun 2014, Strasbourg, France. pp.2606-2611, ⟨10.1109/ECC.2014.6862437⟩
Communication dans un congrès hal-01066667v1
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Experimental comparisons between implicit and explicit implementations of discrete-time sliding mode controllers: Towards chattering suppression in output and input signals

Bin Wang , Bernard Brogliato , Vincent Acary , Ahcene Boubakir , Franck Plestan
VSS 2014 - 13th IEEE International Workshop on Variable Structure Systems, Jun 2014, Nantes, France. pp.1-6, ⟨10.1109/VSS.2014.6881159⟩
Communication dans un congrès hal-01625736v1
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Analysis of four-bar planar mechanisms with joint clearances

Narendra Akhadkar , Vincent Acary , Bernard Brogliato , Michel Abadie
ENOC 2014 - European Nonlinear Oscillations Conference, Jul 2014, Vienna, Austria
Communication dans un congrès hal-01073482v1
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Comparison between explicit and implicit discrete-time implementations of sliding-mode controllers

Olivier Huber , Vincent Acary , Bernard Brogliato
CDC 2013 - 52nd IEEE Conference on Decision and Control, Dec 2013, Florence, Italy. pp.2870-2875, ⟨10.1109/CDC.2013.6760319⟩
Communication dans un congrès hal-00870281v1
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Computing Period and Shape of Oscillations in Piecewise Linear Lur'e Systems: a Complementarity Approach

Valentina Sessa , Luigi Iannelli , Vincent Acary , Bernard Brogliato , Francesco Vasca
CDC 2013 - 52nd IEEE Conference on Decision and Control, Dec 2013, Firenze, Italy. pp.4680-4685, ⟨10.1109/CDC.2013.6760622⟩
Communication dans un congrès hal-00870282v1
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Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: second order sliding mode synthesis and chattering-free digital implementation

Harshal B. Oza , Vincent Acary , Yury Orlov , Sarah K. Spurgeon , Bernard Brogliato
CDC 2012 - 2012 IEEE 51st Annual Conference on Decision and Control, Dec 2012, Maui, Hawai, United States. pp.5471-5476, ⟨10.1109/CDC.2012.6426465⟩
Communication dans un congrès hal-00787139v2

Preservation of dissipativity properties with the (θ,γ)-discretization

Scott Greenhalgh , Vincent Acary , Bernard Brogliato
AMMCS - International Conference on Applied Mathematics, Modeling and Computational Science, SIAM/AIMS, Jul 2011, Waterloo, Canada
Communication dans un congrès inria-00609880v1

Implicit Euler numerical simulation of sliding mode systems

Vincent Acary , Bernard Brogliato
Conference on Scientific Computing. Conference in honour of E. Hairer's 60th birthday, Martin Gander, Christian Lubich and Gerhard Wanner, Jun 2009, Geneva, Switzerland
Communication dans un congrès inria-00423549v1
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Numerical simulation of Nonsmooth Systems and Switching Control with the SICONOS/Control toolbox

Vincent Acary , Irinel-Constantin Morarescu , Franck Pérignon , Bernard Brogliato
ENOC 2008 - 6th EUROMECH Nonlinear Dynamics Conference, Jun 2008, Saint Petersbourg, Russia
Communication dans un congrès hal-00389385v1
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Numerical time integration of higher order dynamical systems with state constraints

Vincent Acary , Bernard Brogliato
ENOC-2005, Technical University Eindhoven Tu/e, Aug 2005, Eindhoven, Netherlands
Communication dans un congrès inria-00424056v1
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Toward a multiple impact law: the 3-ball chain example

Vincent Acary , Bernard Brogliato
6e Colloque National en Calcul des Structures, May 2003, Giens, France. 12p
Communication dans un congrès inria-00424301v1
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Concurrent multiple impacts modelling: Case-study of a 3-ball chain

Vincent Acary , Bernard Brogliato
Second MIT Conference on Computational Fluid and Solid Mechanics, MIT, Jun 2003, Cambridge, United States. pp.1842-1847, ⟨10.1016/B978-008044046-0.50450-4⟩
Communication dans un congrès inria-00424298v1

Nonsmooth Modeling and Simulation for Switched Circuits

Vincent Acary , Olivier Bonnefon , Bernard Brogliato
Springer Verlag, 69, 2010, Lecture Notes in Electrical Engineering, 9789048196807. ⟨10.1007/978-90-481-9681-4⟩
Ouvrages inria-00522358v1
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Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics

Vincent Acary , Bernard Brogliato
Springer Verlag, 35, pp.526, 2008, Lecture Notes in Applied and Computational Mechanics, 978-3-540-75391-9. ⟨10.1007/978-3-540-75392-6⟩
Ouvrages inria-00423530v1
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Experimental results on implicit and explicit time-discretization of equivalent-control-based sliding-mode control

Olivier Huber , Bernard Brogliato , Vincent Acary , Ahcene Boubakir , Franck Plestan
L. Fridman; J.P. Barbot; F. Plestan. Recent Trends in Sliding Mode Control, 102, IET, pp.207-235, 2016, IET Control, Robotics and Sensors Series, 978-1-78561-076-9. ⟨10.1049/PBCE102E_ch3.2⟩
Chapitre d'ouvrage hal-01238120v1
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Higher Order Moreau's Sweeping Process

Vincent Acary , Bernard Brogliato
Alart, P. and Maisonneuve, O. and Rockafellar, R. T. Nonsmooth Mechanics and Analysis, 12, Springer Verlag, pp.261-277, 2007, Advances in Mechanics and Mathematics, ⟨10.1007/0-387-29195-4_22⟩
Chapitre d'ouvrage hal-00758609v1
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Index-2 hybrid DAE: a case study with well-posedness and numerical analysis

Alexandre Rocca , Vincent Acary , Bernard Brogliato
[Research Report] Inria - Research Centre Grenoble – Rhône-Alpes. 2019
Rapport hal-02381489v2
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Comparisons between implicit and explicit discrete-time implementations of equivalent-control-based sliding mode controllers: input and output chattering suppression via the implicit method

Bin Wang , Bernard Brogliato , Vincent Acary , Ahcene Boubakir , Franck Plestan
[Research Report] Inria Grenoble Rhône-Alpes. 2014
Rapport hal-01087400v1
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Numerical Simulation of Piecewise-Linear Models of Gene Regulatory Networks Using Complementarity Systems

Vincent Acary , Hidde de Jong , Bernard Brogliato
[Research Report] RR-8207, INRIA. 2013, pp.42
Rapport hal-00778412v1
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Analysis of explicit and implicit discrete-time equivalent-control based sliding mode controllers

Olivier Huber , Vincent Acary , Bernard Brogliato
[Research Report] RR-8383, INRIA. 2013, pp.23
Rapport hal-00875209v1
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Preservation of the dissipativity properties of a class of nonsmooth dynamical systems with the (θ,γ)-algorithm

Scott Greenhalgh , Vincent Acary , Bernard Brogliato
[Research Report] RR-7632, INRIA. 2011, pp.51
Rapport inria-00596961v1
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Chattering-free digital sliding-mode control with state observer and disturbance rejection

Vincent Acary , Bernard Brogliato , Yury Orlov
[Research Report] RR-7326, INRIA. 2010
Rapport inria-00494417v2
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Implicit Euler numerical simulations of sliding mode systems

Vincent Acary , Bernard Brogliato
[Research Report] RR-6886, INRIA. 2009, pp.39
Rapport inria-00374840v2
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The nonsmooth dynamical systems approach for the analog simulation of switched circuits within the Siconos framework

Vincent Acary , Olivier Bonnefon , Bernard Brogliato
[Research Report] RR-7061, INRIA. 2009, pp.26
Rapport inria-00423955v1
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On the Equivalence Between Complementarity Systems, Projected Systems and Unilateral Differential Inclusions

Vincent Acary , Bernard Brogliato , Aris Daniilidis , Claude Lemaréchal
[Research Report] RR-5107, INRIA. 2004
Rapport inria-00071475v1
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Coefficients de restitution et efforts aux impacts : Revue et comparaison des estimations analytiques

Vincent Acary , Bernard Brogliato
[Rapport de recherche] RR-5401, INRIA. 2004, pp.162
Rapport inria-00070602v1
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Higher order Moreau's sweeping process: Mathematical formulation and numerical simulation

Vincent Acary , Bernard Brogliato , Daniel Goeleven
[Research Report] RR-5236, INRIA. 2004, pp.60
Rapport inria-00070762v1