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Conception de commande tolérante aux défauts pour les systèmes multi-agents : application au vol en formation d'une flotte de véhicules autonomes aériens

Adel Belkadi 1, 2 
2 SIMBIOT - SIMulating and Building IOT
LORIA - NSS - Department of Networks, Systems and Services
Abstract : In recent years, the emergence of new technologies such as miniaturization of components, wireless communication devices, increased storage size and computing capabilities have allowed the design of increasingly complex cooperative multi-agent systems. One of the main research axes in this topic concerns the formation control of fleets of autonomous vehicles. Many applications and missions, civilian and military, such as exploration, surveillance, and maintenance, were developed and carried out in various environments. During the execution of these tasks, the vehicles must interact with their environment and among themselves to coordinate. The available communication tools are often limited in scope. The preservation of the connection within the group then becomes one of the objectives to be satisfied in order to carry out the task successfully. One of the possibilities to guarantee this constraint is the training displacement, which makes it possible to preserve the distances and the geometrical structure of the group. However, it is necessary to have tools and methods for analyzing and controlling these types of systems in order to make the most of their potential. This thesis is part of this research direction by presenting a synthesis and analysis of multi-agent dynamical systems and more particularly the formation control of autonomous vehicles. The control laws developed in the literature for formation control allow to carry out a large number of missions with a high level of performance. However, if a fault/failure occurs in the training, these control laws can be very limited, resulting in unstable system behavior. The development of fault tolerant controls becomes paramount to maintaining control performance in the presence of faults. This problem will be dealt with in more detail in this thesis and will concern the development and design of Fault tolerant controls devolved to a fleet of autonomous vehicles according to different configuration/structuring
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Submitted on : Monday, October 14, 2019 - 10:24:49 AM
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Adel Belkadi. Conception de commande tolérante aux défauts pour les systèmes multi-agents : application au vol en formation d'une flotte de véhicules autonomes aériens. Automatique / Robotique. Université de Lorraine, 2017. Français. ⟨NNT : 2017LORR0183⟩. ⟨tel-01754768⟩



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