Reports/Publications

    



videos of former results

Elastic formation control based on affine transformations  (ACC 2011 submission)

5 AUV simulated by ConnectSim, controled by Matlab-Simulink(c) and displayed by the ConnectHMI.


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Contraction Control of a Fleet Circular Formation of AUVs under Limited  Communication Range
(ACC 2010)

5 AUV simulated by ConnectSim, controled by Matlab-Simulink(c) and displayed by the ConnectHMI.


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Translation Control of fleet circular formation of AUVs under finite communication range.

(CDC2009 submission) - Green zone is the communication range of AUVs

5 AUV simulated by ConnectSim, controled by Matlab(c) and displayed by the ConnectHMI.


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Control of uniform circle formation with all-to-all communication assumption  and some tests of cross and "V" formation simulated on the "alpha" version of the simulator:

5 AUV simulated by ConnectSim, controled by Matlab(c) and displayed by the HMI.





Publications

[1] E. Roche, O. Sename and D. Simon, « LPV/Hinf control of an Autonomous Underwater Vehicle (AUV) » , European Control Conference, (ECC’09), Budapest, Hongary, 2009.

[2] A.Y. KIBANGOU, C. SICLET, and L. ROS, "Joint Channel and Doppler estimation for multicarrier
underwater communications.", Proc. 2010 IEEE International Conf. on Acoustics, Speech and Signal
Processing (ICASSP), pp. 5630-5633, Dallas, Texas, USA, March 14-19, 2010.

[3]  A.Y. KIBANGOU, C. SICLET, and L. ROS, "ZF OFDM Receiver for Underwater Communications.",
Proc. International Symp. on Communications, Control, and Signal Processing (ISCCSP), pp. ,Limassol,
Cyprus, March 3-5, 2010.

[4] L. Briñon-Arranz, A. Seuret and C. Canudas-de-Wit, « Contraction Control of a Fleet Circular Formation of AUVs under Limited Communication Range », American Control Conference (ACC’10), Baltimore, USA,2010.

[5] L. Briñon-Arranz, A. Seuret and C. Canudas-de-Wit, « Translation Control of fleet circular formation of AUVs under finite communication range. »  Conference on Decision and Control (CDC’09), Shanghai, China, 2009.

[6] J. Zikmund and M. Alamir, « GPS-free Observer Based localization for Formation Control In Presence of Hard Communication Constraint », submitted to IFAC world congress 2011, Milan.

[7] B.J. Moore and C. Canudas-de-Wit« Formation Control via Distributed Optimization of Alignment Error » Conference on Decision and Control (CDC’09), Shanghai, China, 2009.

[8] L. Briñon-Arranz, A. Seuret and C. Canudas-de-Wit, «General Framework ussing Affine Transformations to Formation Control Design », 2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS'10), Annecy, France, 2010. 

[9] L. Briñon-Arranz, A. Seuret and C. Canudas-de-Wit, «Elastic Formation Control based on Affine Transformations », submitted to American Control Conference (ACC’11), San Francisco, USA, 2010.

[10] A.Y. KIBANGOU, L. ROS, and C. SICLET, "Doppler Estimation and Data detection for Underwater
Acoustic ZF-OFDM Receiver.", Proc. IEEE International Symp. on Wireless Communications and
Systems (ISWCS), York, UK, September 20-23, 2010.

[11] E.Roche, O. Sename and D. Simon, « LFT/Hinfinity varying sampling control for Autonomous
Underwater Vehicles » , IFAC SSSC (SSSC’10), Ancona, Italia, 2010.

[12] G. Rodrigues de Campos, A. Seuret, « Continuous-time double integrator consensus algorithms improved by an appropriate sampling », 2nd IFAC Workshop on Distributed Control and Estimation of Networked Systems, Annecy : France, 2010.


Reports


Poster for ANR STIC 11/01/2011 conference 

Report E. Roche: a robust control law for autonomous underwater vehicles (AUV) (french version, pdf - 1500ko)

Abstract: A non linear model of the AUV was implemented on Matlab, then it has been linearized by a tangential method. An LPV polytopique model was also developed, considering the mass as the unique varying parameter. Simulation results are provided to show performances obtained with both controller, and specifically the improvement brought with the LPV method.

Report  L. Briñòn: Multi-agent control under communication constraints (english version, pdf - 300ko)

Abstract: In this report we present the project Multi-agent control under communication constraints. The main objective is that a multi-agent system, composed of underwater vehicles which have to work in a cooperative way, find the position of a source (fresh water, chemical source,methane's source). We show the simulation results and the mathematical development of the Lyapunov theorem for each problem.

Report M. Mossi Idrissa :  Study and evaluation of multicarrier modulations for underwater communication (french version, pdf - 730ko)

Abstract:  Le canal de transmission acoustique sous-marin est un canal qui présente des difficultés pour lesquelles les techniques basiques connues en Radio Fréquence ne sont pas efficaces. Notre travail a consisté tout d'abord en l'étude des effets introduits par le canal et surtout dans le cas des modulations multiporteuses. Après cette étude, nous avons simulé le canal et testé une technique d'estimation du Doppler. Il reste à comparer les résultats de nos calculs aux simulations.

Report S. Varrier : Robust control of autonomous underwater vehicles (english version, pdf - 2.28Mo)

Abstract: The objective of the project is the collaborative control of several autonomous underwater vehicles (AUV). The first step of this final year project is the realization of an efficient Matlab/Simulink model of the submersible, based on Ifremer (marine vehicle constructor) data. Thus, the aim is to control the vehicle by synthesizing robust controllers via a Hinf approach, since some parameters are over 70 % uncertain. This report presents a control of the longitudinal speed (including a non linear compensation) and an original structure of control in the vertical plan.