Journée des doctorants - Laboratoire des signaux et systèmes

Jing WANG
Titre : Analyse et contrôle de formation de véhicules.
Directeur de thèse : H. MOUNIER
Date de début de thèse : 01/09/2010
Bureau : B.3.39 A
Tél. : 01 69 85 17 81
E-mail : Jing.WANG@lss.supelec.fr
Résumé : The goal of this thesis is to develop evolution strategies for vehicle formations. It is subdivided in two parts: the first one
is concerned with the analysis and control of a single vehicle, the second one is the formations of such vehicles. In the first part,
the candidate has to build control laws: which are robust to model uncertainties and to perturbations; which respect temporal
constraints (i.e. Real time controls); which respect energy constraints. The candidate will benefit from techniques stemming from
differential flatness, especially for trajectory tracking. The objectives will be for instance specified in terms of tubes within which
the geometrical trajectories have to remain. The items 2 and 3 impose geometrical constraints, both kinematic and dynamic on
the flat output trajectories.
In the second part, the vehicles can communicate with each other, and with a distant basis. The specificity of this part is twofold :
1. Specification of a group behavior, through a group centroïd. One first specifies the group centroïd trajectory and the trajectories
of the group members stay around the centroïd one, with a certain elasticity. 2. Inter vehicle communication consideration.
Possibility of messenger vehicles, getting closer to a distant basis in order to deliver a message, wait for instructions in reply, and
coming back to transmit these instructions to the group. 3. The preceding item may induce non negligible delays, which must be
taken into account in the evolution strategy.