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Stabilisation et régulation de robots mobiles opérant en groupe

Abstract : For control systems in the form dx/dt = f (x, u), in the literature, researchers were interested in stabilizing the system in different ways : asymptotic, uniformly asymptotic, partial, in #nite time, etc. To achieve these results, the methods involve the following techniques : Lyapunov, LaSalle, Barbalat, sliding surface, etc. In this thesis, we became interested in another feature form of the controller, called repulsive stabilizing controller. The results were generalized to the case of a system with drift and without drift. As a result, the proposed control approach ensures the system stability around a desired position and the repulsion of the latter over a set junk, built in the navigation space. Any form of application will be concerned by our theoretical results including, terrestrial and aerial navigations in a little known or not known environment. Similarly, the proposed control law, once planned, preserves the inter-agent communication. In terms of application, we considered the model of a unicycle-type wheeled vehicle, regardless of orientation (non-holonomic case) and where the environment contains one or more obstacle(s). Contrary to the results of the literature, which are based on a switching control structure for avoidance of an obstacle, the stabilizing repulsive found is a smooth and continuous controller on the navigation space. The second part of this thesis addresses the stability problem of a formation of agents (multi-vehicle) operating in a hostile environment while maintaining the communication between agents. To successfully the strategy of the formation, the decentralized controller over agents is made robust through communication graphs. These graphs are performed according to the formation strategy and objectives. Our stability results have been implemented in a simulator made in Matlab.
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Mohamed Anouar El Kamel. Stabilisation et régulation de robots mobiles opérant en groupe. Automatique / Robotique. Université d'Evry-Val d'Essonne, 2012. Français. ⟨tel-00876452⟩

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