Rafael Silva's thesis defense
I am pleased to invite you to my thesis defense entitled "Event-driven control for non-linear systems: Application to vehicle convoy".
The public defense will take place on Friday 05 July 2024 at 2pm at the Amphitheatre IEMN - UPHF - Campus du Mont Houy, LAMIH LOTTMAN building, 59313, Valenciennes.
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Le 05/07/2024
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14:00 - 15:30
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Mont Houy Campus
IEMN
Amphi
Summary
This thesis discusses the implementation of event-driven control for nonlinear systems with an application to the inhomogeneous convoy of vehicles.
Linearizing control is applied to homogenize the convoy. Nevertheless, it has limitations in the presence of parametric uncertainties and unmeasured exogenous disturbances.
The linearizing control is applied to homogenize the convoy.
To solve this problem, we propose to use a disturbance observer (DOB) that estimates a ``virtual'' disturbance, representing the effects of both parametric uncertainties and unmeasured external signals.
This estimate is directly integrated into the linearizing control law to compensate for uncertainties. Taking compensation effects into account, the individual stability of each vehicle and the stability of the convoy of vehicles is formulated from an interconnected subsystem. This represents the interaction between two consecutive vehicles, which exchange information directly. Thanks to this formulation, individual and inhomogeneous convoy stability can be studied using a single interconnected subsystem L2 stability analysis, ensuring scalability of the proposed stability conditions.
By considering event-based transmission to reduce the communication rate, sufficient stability conditions are proposed. They make use of Lyapunov theory and, in the case of delays, Lyapunov-Krasovskii functionals.
At the same time, we propose the use of Lyapunov theory and, in the case of delays, Lyapunov-Krasovskii functionals.
To avoid the Zenon phenomenon, a minimum delay between consecutive transmissions is imposed. To take account of the imposed delay, the interconnected subsystem is rewritten as a switching system based on the intervals during which the triggering mechanism is active.
At the same time, a minimum delay is imposed between consecutive transmissions.
As an extension of ETC methods for applications around vehicle convoys, a co-design method for non-linear systems is also proposed based on a linearizing control technique.
The synthesis conditions for both the controller and the event-triggering mechanism are reformulated as an optimization problem written using linear matrix inequality constraints. Simulations and comparisons are presented for each part of the dissertation.