Nos chercheuses et chercheurs

Frédéric JEAN

Unité de Mathématiques Appliquées (UMA)

Directeur UMA

HDR

Je suis professeur de l'ENSTA, membre de l'équipe Optimisation et Commande de l'Unité de Mathématiques Appliquées (UMA). Je suis actuellement directeur de l'UMA. Mes activités de recherche s'inscrivent dans le contexte de la théorie du contrôle non-linéaire, et plus précisément du contrôle géométrique, et portent à la fois sur des aspects théoriques (géométrie sous-riemannienne, systèmes non-holonomes, approche géométrique du contrôle optimal) et sur des applications, en particulier la modélisation de la neuro-physiologie.

Activités de recherche et de formation

Encadrement doctoral

Ruixing Long (co-encadrement avec Yacine Chitour), thèse soutenue en 2010;
Dario Prandi (co-encadrement avec Ugo Boscain et Mario Sigalotti), thèse soutenue en 2013;
Cristopher Hermosilla (co-encadrement avec Hasnaa Zidani), thèse soutenue en 2015;
Boutheina Hafassa (co-encadrement avec Yacine Chitour, Mario Sigalotti), thèse soutenue en 2016;
Walid Bouhafs (co-encadrement avec Nahla Abdellatif), thèse soutenue en 2016;
Sofya Maslovskaya (co-encadrement avec Igor Zelenko), thèse soutenue en 2018;
Emilien Flayac (co-encadrement avec Karim Dahia et Bruno Hérissé), thèse soutenue en 2019;
Meryem Kafnemer (co-encadrement avec Yacine Chitour), thèse soutenue en 2022;
Othmane Jerhaoui (co-encadrement avec Hasnaa Zidani), thèse soutenue en 2022;
Clara Leparoux (co-encadrement avec Bruno Hérissé), thèse soutenue en 2023;
En Lai (co-encadrement avec Antoine Girard et Riccardo Bonalli), thèse débutée en 2024.

Enseignements à l'ENSTA

le cours APM_3AOT3 (ex AOT13) - Géométrie différentielle appliquée;
le cours APM_3AO02 (ex AO102) - Systèmes Dynamiques: Analyse et Stabilité;
le cours APM_4AUT1 (ex AUT201) - Commande des systèmes.

Nos chercheuses et chercheurs

Frédéric JEAN

Activités de recherche et de formation

Encadrement doctoral

Enseignements à l'ENSTA

Publications HAL

Not all sub-Riemannian minimizing geodesics are smooth

Withdrawal of: Solution of the Ovals problem

Two-phase Trajectory Planning Method for Robust Planetary Landing in a Sensor-equipped Area

Inverse optimal control problem in the non autonomous linear-quadratic case

Co-Contraction Embodies Uncertainty: An Optimal Feedforward Strategy for Robust Motor Control

Statistical Linearization for Robust Motion Planning

Commande des Systèmes

On the Accessibility and Controllability of Statistical Linearization for Stochastic Control: Algebraic Rank Conditions and their Genericity

Deterministic optimal control on Riemannian manifolds under probability knowledge of the initial condition

Robust Motion Planning of the Powered Descent of a Space Vehicle

Optimal planetary landing with pointing and glide-slope constraints

Géométrie Différentielle et Application au Contrôle Géométrique

Lp-asymptotic stability of 1D damped wave equations with localized and linear damping

A Mayer optimal control problem on Wasserstein spaces over Riemannian manifolds

Structure of optimal control for planetary landing with control and state constraints

On Weyl's type theorems and genericity of projective rigidity in sub-Riemannian Geometry

A Geometrical Approach for the Optimal Control of Sequencing Batch Bio-Reactors

A unifying vision of Particle Filtering and Explicit Dual Control

Efficient computation of optimal open-loop controls for stochastic systems

On the regularity of abnormal minimizers for rank 2 sub-Riemannian structures

Periodical body's deformations are optimal strategies for locomotion

Stochastic optimal open-loop control as a theory of force and impedance planning via muscle co-contraction

Injectivity of the inverse optimal control problem for control-affine systems

A Unifying vision of Particle Filtering and Explicit Dual Control in Stochastic Control

Horizontal holonomy and foliated manifolds

On projective and affine equivalence of sub-Riemannian metrics

Optimality and modularity in human movement: from optimal control to muscle synergies

Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems

Inverse Optimal Control Problem: The Linear-Quadratic Case

On measures in sub-Riemannian geometry

Nonlinear fisher particle output feedback control and its application to terrain aided navigation

Stabilité et commande des systèmes dynamiques

Inverse Optimal Control Problem: the Sub-Riemannian Case

On the duration of human movement: from self-paced to slow/fast reaches up to Fitts's law

Why Don't We Move Slower? The Value of Time in the Neural Control of Action

Hausdorff volume in non equiregular sub-Riemannian manifolds

Complexity of control-affine motion planning

La mécanique des Sphères de Lie: un futur pour la CAO?

Commande optimale en temps minimal d'un procédé biologique d'épuration de l'eau

Complexity in control-affine systems

Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning

Hausdorff measures and dimensions in non equiregular sub-Riemannian manifolds

A geometrical approach for the resolution of an optimal control problem

Geometric modeling of the movement based on an inverse optimal control approach

On the inverse optimal control problems of the human locomotion: stability and robustness of the minimizers

Hausdorff measures and dimensions in non equiregular sub-Riemannian manifolds

A Global Steering Method for Nonholonomic Systems

Commande optimale en temps minimal d'un procédé biologique d'épuration de l'eau

A new class of $({\cal H}^k,1)$-rectifiable subsets of metric spaces

Modélisation des voies de la commande saccadique

Control of Nonholonomic Systems and Sub-Riemannian Geometry

Commande optimale en temps minimal d’un procédé biologique d’épuration de l’eau

Optimal control models of the goal-oriented human locomotion

Stabilité et commande des systèmes dynamiques

Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles

Analysis of optimal control models for the human locomotion

A biomechanical inactivation principle

An Explicit Desingularization Procedure for General Nonholonomic Systems

A global steering method for general dynamical nonholonomic systems

Asymptotic analysis of an optimal control problem connected to the human locomotion

The inactivation principle: mathematical solutions minimizing the absolute work and biological implications for the planning of arm movements.

Singular trajectories of control-affine systems

Géométrie sous-riemannienne et contrôle non-linéaire

Genericity results for singular curves

A globally convergent steering algorithm for regular nonholonomic systems

Singular trajectories of driftless and control-affine systems

Nonhomogeneous nilpotent approximations for systems with singularities

Measures of Transverse Paths in Sub-Riemannian Geometry

Entropy and complexity of a path in sub-Riemannian geometry

Generic properties of singular trajectories

Measures of Sub-Riemannian Paths

Uniform Estimation of Sub-Riemannian Balls

Complexity of Nonholonomic motion planning

Paths in sub-Riemannian geometry