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AMSA, un framework dédié à la simulation des lois de contrôle pour des voiliers de compétition

Abstract : Racing sailboats are complex and unstable vehicles, which require reliable and robust control. If simulation seems to be an essential tool to tune control laws, it comes with software engineering issues, like integration of heterogeneous components in the simulator, or ease of simulator’s exploitation.This work proposes a software framework dedicated to simulation of control laws for racing sailboats. The framework provides models and tools to facilitate the setup of the simulator architecture. An architectural style, based on standard communication interfaces and universal adaptors, answers to the components’ heterogeneity issue. A mechanism of scenarios is proposed to facilitate the simulations’ management. A scenario allows the parametrization of the different simulator constituents and the production of workable results thanks to events and observers.Automatic parameter sweeping is also possible to facilitate the tuning of models and control laws.Various models of environment, boats and control laws have been integrated to the framework as software components. That allows to run several simulations with various goals: validation of sailboat parametric model, replay of real situation, tuning of control laws.The simulation results validate the models used and confirm some pilot settings obtained empirically during real navigation.
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https://tel.archives-ouvertes.fr/tel-02965695
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Submitted on : Tuesday, October 13, 2020 - 2:31:08 PM
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  • HAL Id : tel-02965695, version 1

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Emilien Lavigne. AMSA, un framework dédié à la simulation des lois de contrôle pour des voiliers de compétition. Modélisation et simulation. Université de Bretagne occidentale - Brest, 2019. Français. ⟨NNT : 2019BRES0087⟩. ⟨tel-02965695⟩

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