Commande prédictive sous contraintes de sécurité pour des systèmes dynamiques Multi-Agents

Abstract : This thesis presents optimizationbased control techniques for dynamical Multi-Agent systems (MAS) subject to collision avoidance constraints. From the set-theoretic point of view, collision avoidance objective can be translated into non-overlapping conditions for the safety regions characterizing each agent/obstacle while maintaining the convergence towards a specified formation. Among the successful optimizationbased control methods, Model Predictive Control (MPC) is used for constraints handling. First, a leader-follower structure is considered as a basic decentralized architecture. The followers functioning zone assignment is decided by the leader and then the local linear feedback control is computed such that the follower operates strictly inside its authorized zone, offering anti-collision guarantees. Second, a dynamic Voronoi partition based deployment of the agents using an inner target driver is developed. The main novelty is to consider the Chebyshev center as the inner target for each agent, leading to an optimization-based decentralized predictive control design. In the same topic, other inner targets are considered such as the center of mass or vertex interpolated center. Third, set-theoretic tools are used to design a centralized FDI layer for dynamical MAS, leading to the exclusion of a faulty agent from the MAS formation and the integration of an external healthy/recovered agent in the current formation. The set-based FDI allows detecting and isolating these faulty agents to protect the current formation using centralized predictive control techniques.
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Submitted on : Monday, December 12, 2016 - 2:16:05 PM
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Minh Tri Nguyen. Commande prédictive sous contraintes de sécurité pour des systèmes dynamiques Multi-Agents. Autre. Université Paris-Saclay, 2016. Français. ⟨NNT : 2016SACLC071⟩. ⟨tel-01414560⟩



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