Approches à base de données pour la ...
Document type :
Habilitation à diriger des recherches
Title :
Approches à base de données pour la modélisation et la commande de systèmes robotiques
English title :
Model-free approaches for modeling and control of robotic systems
Author(s) :
Melingui, Achille [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Thesis director(s) :
Vincent Cocquempot
Defence date :
2021-05-25
Jury president :
Véronique Perdereau [Rapporteure]
Abdelaziz Benallegue [Rapporteur]
Taha Boukhobza [Rapporteur]
Rochdi Merzouki
Mitra Fouladirad
Abdelaziz Benallegue [Rapporteur]
Taha Boukhobza [Rapporteur]
Rochdi Merzouki
Mitra Fouladirad
Jury member(s) :
Véronique Perdereau [Rapporteure]
Abdelaziz Benallegue [Rapporteur]
Taha Boukhobza [Rapporteur]
Rochdi Merzouki
Mitra Fouladirad
Abdelaziz Benallegue [Rapporteur]
Taha Boukhobza [Rapporteur]
Rochdi Merzouki
Mitra Fouladirad
Accredited body :
Université de Lille
Keyword(s) :
Robotique
Intelligence artificielle
Intelligence artificielle
English keyword(s) :
Robotics
Machine Learning algorithms
Artificial Intelligence
Backstepping control
Machine Learning algorithms
Artificial Intelligence
Backstepping control
HAL domain(s) :
Sciences de l'ingénieur [physics]/Automatique / Robotique
Informatique [cs]/Apprentissage [cs.LG]
Informatique [cs]/Apprentissage [cs.LG]
English abstract : [en]
In work presented above, we have presented control strategies for the autonomous navigation of mobile robots. We have also presented learning architectures for the modeling and control of continuum manipulators and a ...
Show more >In work presented above, we have presented control strategies for the autonomous navigation of mobile robots. We have also presented learning architectures for the modeling and control of continuum manipulators and a learning architecture that maintains multiple inverse kinematic solutions for high dof rigid manipulators. Finally, we have proposed new control laws for the control of flexible joint manipulators.Our prospective study is a continuation of these works and aims at improving the existing ones. Our research team recently interested in Machine Learning algorithms (artificial neural networks and machine vectors support), artificial intelligence (Fuzzy logic, artificial potential field), and backstepping control. Our main short term objective is to reinforce our research team of the UY1, which currently has only two confirmed researchers.Show less >
Show more >In work presented above, we have presented control strategies for the autonomous navigation of mobile robots. We have also presented learning architectures for the modeling and control of continuum manipulators and a learning architecture that maintains multiple inverse kinematic solutions for high dof rigid manipulators. Finally, we have proposed new control laws for the control of flexible joint manipulators.Our prospective study is a continuation of these works and aims at improving the existing ones. Our research team recently interested in Machine Learning algorithms (artificial neural networks and machine vectors support), artificial intelligence (Fuzzy logic, artificial potential field), and backstepping control. Our main short term objective is to reinforce our research team of the UY1, which currently has only two confirmed researchers.Show less >
Language :
Anglais
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