The LSV seminar takes place on Tuesday at 11:00 AM. The usual location is the conference room at Pavillon des Jardins (venue). If you wish to be informed by e-mail about upcoming seminars, please contact Stéphane Le Roux and Matthias Fuegger.
The seminar is open to public and does not require any form of registration.
This talk presents an original method combining interval analysis and Lyapunov theory for stability analysis of uncertain dynamical systems.
The principle of the approach is to represent uncertain systems by differential inclusions and then to perform a Lyapunov analysis in order to cast the stability problem within a set-inversion framework. With this approach, we can show that for all feasible perturbations, (i) there exists a safe subset A of the state space the system cannot escape as soon as it enters in it and (ii) if the system is outside A, it cannot stay outside A forever. In a second step, the methodology is used to build reliable robust controllers. An illustration related to the line following problem of sailboat robots is then provided.
After introducing the basic notions on interval analysis and Lyapunov theory, I will show how these tools can be used for stability analysis of nonlinear systems. Then an experimental validation that took place on January 2012 will then be presented. On this experiment, the autonomous sailboat robot Vaimos, has gone from Brest to Douarnenez (more than 100 km).
More details can be found at http://www.ensta-bretagne.fr/jaulin/vaimosdouarn.html.
This talk will be presented in a pedagogical way in order to be easily understood by non specialists.