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Hdr Année : 2020

A walk through constrained optimization-based control problems

Résumé

This manuscript presents the professional, academic and scientific results obtained during the last eight years of my career (after obtaining the PhD title in Automation in 2012) as well as the research directions that I wish to follow in the medium term (based on open questions identified in my area of interest). In particular, and as will be discovered throughout the manuscript, I am interested in the application of optimization-based control strategies for complex systems. My research contributions offer a geometric viewpoint of various control problems which appear in motion planning for autonomous (aerial, aquatic) vehicles and interconnected systems like DC microgrids or water networks. Why optimization-based control? Today’s systems have complex architectures, are bounded by heterogeneous constraints and have to respect challenging operational costs. Thus, optimization-based approaches, which fully exploit changes in mission, condition and environment, are becoming ubiquitous within the community. Why a geometric viewpoint? Most control problems can be better understood if seen from a geometrical viewpoint. Such an interpretation may lead to new theoretical insights and streamline their representation. Furthermore, there are many tools which can be readily applied such as set-based methods and combinatorial results. The first part of the manuscript gives a brief overview of my professional and academic career up to date (post-thesis). The main stages were the follow-up postdoctoral fellowship carried within the EDF chair, École Centrale Paris and the subsequent employment at Univ. Grenoble Alpes, Grenoble INP, Esisar (École Nationale Supérieure in Advanced Systems and Networks), LCIS (Laboratory for Systems Design and Integration) laboratory where I currently hold the position of Associate Professor. Along this path, I participated in various research and teaching activities which allowed me to develop my capacity for independent work. The second part of the manuscript lists the main scientific results obtained after the end of the thesis. In particular, I consider the following to be relevant research areas: i) the application of differential flatness for the resolution of various constrained-optimization problems (with auxiliary tools such as port-Hamiltonian modeling and spline representations); ii) motion planning via model predictive control, for unmanned surface and aerial vehicles (with particular emphasis on multicopter study and experimental validation); iii) the study and application of hierarchical control strategies for DC microgrids (power balancing, profile generation and tracking, converter control, etc.). The third part of the manuscript summarizes the problems that I have identified in recent years and the approaches that I wish to apply. A brief list covers: i) application of spline approximation theory to the flat-based representations of nonlinear dynamics to reduce complexity; ii) combining a particular class of models with flat representations (in view of automated model reformulation and subsequent resolution of constrained optimization problems); iii) extensions of modeling and control for larger scale systems (accounting for the multiple time scales, profile generation, reliability and fault propagation) with learning-based methods;
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Dates et versions

tel-04036631 , version 1 (19-03-2023)

Identifiants

  • HAL Id : tel-04036631 , version 1

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Ionela Prodan. A walk through constrained optimization-based control problems. Automatic. Universite Grenoble Alpes, 2020. ⟨tel-04036631⟩
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