Lei YU

Sujet de thèse

Ph. D Program for Lei Yu

This programme is due to the collaboration between Professor Hong Sun of Wuhan University and Professor J-P Barbot of ECS-EA 3649 Laboratory.

The subject of this Ph. D is to reconstruct the dynamics of hybrid system and detect the faults. More precisely, the first topic is to reconstruct the car trajectory just with the information coming from the video. After that, thank to the trajectory reconstruction, the second topic is to construct (or observe) the dynamic of the car. From these, comparing the expected dynamics with the observed one, it is possible to detect fault on the dynamical behaviour. For the considered application, the main fault to detect is the sliding due to the imperfect contact with the floor (degradation of tyres or wet floor...). Consequently, this Ph. D thesis is an interdisciplinary subject between image processing, speciality of Professor Hong Sun (former Ph. D student of Professor Henri Maître) and nonlinear control systems (speciality of ECS). Moreover, in the framework of "Equipe ALIEN-INRIA", some new types of observer or left inverse programmes will be developed and tested. First of all, all the processes are implemented and tested offline. If the results are sufficiently satisfactory, it is envisaged, at the very end of the thesis, to design a new type of online control (denoted degraded control in the control community) taking into account the fault influences. Obviously, all the techniques developed in the car environment will be generalized in more general applications.

En construction