Technical skill sheet

Advanced Control Systems

  • Centre of research : MINES ParisTech, centre de robotique - CAOR
  • Prestation : Characterization, tries, tests, checks, formulation - Advice, assessment, training - Prototyping, Preseries, Industrialisation - Research and Development

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Know-how


Development of advanced control systems, on the theme of automatic driving :
- Estimation and control for onboard safety
- Infinite dimensional control
Research themes :
- Development of estimators of the absolute speed of the centre of gravity of the car using measurements available on production models.
- With monodimensional nonlinear hyperbolic of systems of the laws of conservation, we exhibited a strict Lyapunov function which provides an analysis of the exponential stability of the system by boundary controls. The privileged application context is always that of irrigation canals.

Applications


The research work conducted at the Robotics Centre is intended to increase the autonomy and performance of robotic systems, improve man-machine relations and optimise human and materials resources in human activities.
Robot autonomy is dependent on the functions of perception and modelling of the environment. That is why a major part of our research bears on visual perception, multisensorial fusion, the analysis and comprehension of scenes, and the geometric and photometric reconstruction of reality. These research themes are deployed in the application contexts of mobile robotics, and more particularly car driving assistance for greater comfort and safety.

Equipment


The vehicle speed estimators were based on recent algebraic methods developed by the ALIEN team at INRIA (the French National Institute for Research in Computer Science and Control) Futur-Orsay. On this occasion, we worked with the researchers on his project, and more especially Michel Fliess. The work was funded by the CNRS GdR MACS (Modelling, Analysis and Control of Dynamic Systems). Obtaining the sped parameters is a fundamental necessity, among other things to identify in real time the adhesion coefficient in the tyre/ground contact, which is a decisive factor.