Thèse en cotutelle Université de Lorraine – CENIDET Cuernavaca (Mexique)
Titre : Fault-Tolerant Cooperative Control of LPV Multi-Agent Systems: Application to a Fleet of Unmanned Vehicles
Abstract
This thesis explores cooperative control strategies for Linear Parameter-Varying (LPV) multi-agent systems. Multi-agent systems (MAS) have signicant potential in diverse applications, including electrical systems, surveillance missions, and vehicle network control.
This research develops observer-based consensus control methods for LPV multi-agent systems. The primary objective is to achieve desired formations and maintain system stability.
Further, the observer-based leader-following consensus control design focuses on cooperative control among agents under actuator faults. The application of Linear Matrix Inequalities (LMIs) to ensure stability across all submodels using Polya’s theorem from fuzzy control theory is considered. The proposed control strategies are validated through simulations, demonstrating their ecacy in maintaining formation and achieving consensus even in the presence of faults.
The main contribution of the proposed work is to develop an observer-based leaderfollowing fault-tolerant consensus control strategy for LPV MASs. LMIs conditions are derived to ensure the existence of LPV controller, LPV observer, and LPV virtual actuator gains. While reducing conservatism, computing these gains simultaneously increases computational constraints.
Jury
Rapporteurs : Pedro CASTILLO Directeur de Recherche CNRS, Heudiasyc, UT Compiegne.
Jose Fermi GUERRERO-CASTELLANOS Professeur à la Faculte des sciences electronique, Universite autonome de Puebla-BUAP, Mexique.
Examinateurs : Flor-Lizeth TORRES-ORTIZ Professeur à l’Institut d’ingenierie, Universite autonome du Mexique-UNAM, Mexico City.
Mohammed CHADLI Professeur à l’Universite d’Evry.
Christophe AUBRUN Professeur à l’Universite de Lorraine.
Direction de thèse : Jean-Christophe PONSART Professeur à l’Universite de Lorraine.
Manuel ADAM-MEDINA Professeur au Cenidet, Cuernavaca, Mexique.
Guillermo VALENCIA-PALOMO Professeur à l’Institut Technologique de Hermosillo, Mexique