Contrôle et identification pour des solides flottants ou immergés connectés par des câbles déformables

par Gaston Vergara

Projet de thèse en Mathématiques appliquées et calcul scientifique

Sous la direction de Marius Tucsnak et de Franck Sueur.

Thèses en préparation à Bordeaux , dans le cadre de Mathématiques et Informatique , en partenariat avec IMB - Institut de Mathématiques de Bordeaux (laboratoire) et de Analyse (equipe de recherche) depuis le 16-11-2018 .


  • Résumé

    Objectives: (1) Deriving a tractable coupled PDE/ODE system modelling the motions of two rigid bodies (a large one and a much smaller one) which float or are immersed in a fluid and which are connected by a deformable structure. The structure may be passive or controlled by embedded actuators. (2) Provide a reduced order model for which partial state controllability and optimal control issues can be formulated and solved in reasonably short time to allow on-line control. In particular investigate the case in which the control acts by deforming the connecting structure (the swimming problem). (3) Validate the obtained control laws on the full model using CFD methods Expected Results: A “full'' mathematical model coupling equations of hydrodynamics with those of rigid motion and with nonlinear electrodynamics (the latter for the cable). A reduced model in which the equations of fluid dynamics are replaced by approximation for the hydrodynamic torques. Design and simulation of controllers for the reduced model.

  • Titre traduit

    Control and identification for floating or immersed rigid bodies connected by deformable cables


  • Résumé

    Objectives: (1) Deriving a tractable coupled PDE/ODE system modelling the motions of two rigid bodies (a large one and a much smaller one) which float or are immersed in a fluid and which are connected by a deformable structure. The structure may be passive or controlled by embedded actuators. (2) Provide a reduced order model for which partial state controllability and optimal control issues can be formulated and solved in reasonably short time to allow on-line control. In particular investigate the case in which the control acts by deforming the connecting structure (the swimming problem). (3) Validate the obtained control laws on the full model using CFD methods Expected Results: A “full'' mathematical model coupling equations of hydrodynamics with those of rigid motion and with nonlinear electrodynamics (the latter for the cable). A reduced model in which the equations of fluid dynamics are replaced by approximation for the hydrodynamic torques. Design and simulation of controllers for the reduced model.