. Paramètres and . .. Pso, , p.79

, Paramètres de PSO considérés dans le cas de commande de la flotte, p.83

. .. Introduction, 66 3.2 Problèmes d'optimisation difficile et Méta-heuristiques

A. .. De-commande-de-flotte-proposée, 72 3.4.1 Formulation de la problématique

. .. Résultats-expérimentaux, 79 3.6.2 Implémentation de l'approche sur une flotte de quadrirotors, p.82

.. .. Conclusion,

, Commande tolérante aux défauts pour la commande en formation

, Commande en formation tolérante aux défauts basée sur une optimisation par PSO

.. .. Conclusion,

.. .. Conclusion,

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D. Zhou and M. Schwager, Une des possibilités pour garantir cette contrainte est le dépla-cement en formation permettant de préserver les distances et la structure géométrique du groupe. Il est toutefois nécessaire de disposer d'outils et de méthodes d'analyse et de commande de ces types de systèmes afin d'exploiter au maximum leurs potentiels. Cette thèse s'inscrit dans cette direction de recherche en présentant une synthèse et une analyse des systèmes dynamiques multi-agents et plus particulièrement la commande en formation de véhicules autonomes. Les lois de commande développée dans la littérature pour la commande en formation permettent d'accomplir un grand nombre de missions avec un niveau de performance élevé. Toutefois, si un défaut/défaillant apparaît dans la formation, ces lois de commandes peuvent s'avérer très limitées, engendrant un comportement instable du système. Le développement de commandes tolérantes aux défauts devient alors primordial pour maintenir les performances de commande en présence de défauts, Résumé Ces dernière années, l'émergence des nouvelles technologiques tels que la miniaturisation des composants, les dispositifs de communication sans fils, l'augmentation de la taille de stockage et les capacités de calcul, 2014.

. Mots-clés, Algorithme de consensus, PSO, Optimisation, Méta-heuristique