Professor • HDR
Department & Team
Automation, Signals, and Images
MIAM
Contact:
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Areas of Expertise
- Control architectures, hierarchical control, over- and under-actuated linear and non-linear systems, control allocation, advanced control
- Autonomous vehicles, vehicle dynamics, ground vehicles, aerial véhicles
- Robot fleets, collaboration and cooperation, formation guidance
- Experimental validation
Description
My research focuses on proposing new hierarchical control architectures for over- and under-actuated linear and non-linear mechatronic systems using advanced control strategies (hierarchical architectures, control allocation, collaborative control, coordination, LPV control, MPC, etc.). My research covers both methodological and applied aspects. Its primary area of application is the control of connected autonomous vehicles (extending to small off-road vehicles, mobile robots and drones), with a focus on Industry 4.0 through the control of mechatronic systems.
My research focuses on two main areas:
- Autonomous ground vehicles. This area focuses on the design of hierarchical navigation architectures (lateral, longitudinal and lateral stabilisation control), global chassis control and trajectory generation for connected autonomous vehicles in conventional driving situations (on-road) and non-conventional situations (on unstructured terrain, critical situations).
- Heterogeneous autonomous robots. This area aims to propose control algorithms (centralised, distributed, etc.) for formation guidance, coordination and collaboration among a fleet of heterogeneous autonomous robots (ground-based mobile robots, drones, etc.) operating in a dynamic navigation environment that is constrained and shared with other users.
Publications
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SIMPHA Experience: Contribution to new mobility solutions for people with reduced mobility in the Upper Rhine context (2019) Book chapterSustainability research in the Upper Rhine region
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Extended Validation of a Graph-Based Modelling Methodology for High-Pressure Networks (2019) Conference paperJoint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems
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Unified dynamic and geometrical vehicle guidance strategy to cope with the discontinuous reference trajectory (2019) ArticleVehicle System Dynamics
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Direct yaw control based on a phase plan decomposition for enhanced vehicle stability (2019) Conference paper10th IFAC Symposium on Intelligent Autonomous Vehicles
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Robust Control Design for Electrically Driven High-Pressure Pumps Using H-Infinity Approach with Joint Shaping Functions (2019) Conference paperEuropean Control Conference (ECC)