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Coupled methods of nonlinear estimation and control applicable to terrain-aided navigation

Abstract : During this PhD, the general problem of designing coupled control and estimation methods for nonlinear dynamical systems has been investigated. The main target application was terrain-aided navigation (TAN), where the problem is to guide and estimate the 3D position of a drone flying over a known area. In this application, it is assumed that the only available data are the speed of the system, a measurement of the difference between the absolute altitude of the drone and the altitude of the ground flied over and a map of the ground. TAN is a good example of a nonlinear application where the separation principle cannot be applied. Actually, the quality of the observations depends on the control and more precisely on the area that is flied over by the drone. Therefore, there is a need for coupled estimation and control methods. It is to be noted that the estimation problem created by TAN is in itself difficult to analyse and solve. In particular, the following topics have been treated:• Nonlinear observer design and outputfeedback control for TAN with analytical ground mapsin a deterministic continuous-time framework.• The joint modelling of nonlinear optimal filtering and discrete-time stochastic optimal controlwith imperfect information.• The design of output-feedback Explicit dual stochastic MPC schemes coupled with a particlefilter and their numerical implementation to TAN.
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Submitted on : Friday, December 6, 2019 - 11:47:08 AM
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Emilien Flayac. Coupled methods of nonlinear estimation and control applicable to terrain-aided navigation. Optimization and Control [math.OC]. Université Paris-Saclay, 2019. English. ⟨NNT : 2019SACLY014⟩. ⟨tel-02396908⟩

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