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IMOCA : une architecture à base de modes de fonctionnement pour une application de contrôle dans un environnement incertain

Goulven Guillou 1 Jean-Philippe Babau 1
1 Lab-STICC_UBO_CACS_MOCS
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance, UBO - Université de Brest
Abstract : Control systems involve generally several operating modes (control laws) depending on the context. In a natural uncertain environment, it is necessary to answer the following three questions: - What are the relevant operating modes ? - How to combine several modes ? - How to determine the parameters of the modes ? To answer these questions, IMOCA is a methodology and a software architecture for control supported by simulation and tuning tools which allow an incremental development by test corrections. The different modes (command laws) are selected by expertise and associated with contexts, e.g. associated with particular states of the environment. The sequence of control laws is managed by an automaton. Finally, the different parameters of the modes depend on context and are precomputed and implemented by lookup tables. The proposed architecture is independent of the technology of sensors and actuators (interaction with the environment). Control part consists of three concurrent and asynchronous controllers called reactive, expert and adaptive. The reactive controller is responsible for real-time application of a control law chosen by the expert controller and parameterized by the adaptive controller. This approach is applied to the problem of a sailboat autopilot with the help of a virtual environment for the simulation.
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https://hal.univ-brest.fr/hal-01102659
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Submitted on : Tuesday, January 13, 2015 - 12:02:28 PM
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  • HAL Id : hal-01102659, version 1

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Goulven Guillou, Jean-Philippe Babau. IMOCA : une architecture à base de modes de fonctionnement pour une application de contrôle dans un environnement incertain. CAL 2013. 7ième conférence francophone sur les architectures logicielles., May 2013, Toulouse, France. ⟨hal-01102659⟩

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