My research is part of the Institute of Information Sciences and their Interactions of the CNRS, section 07. The research I have worked focuses on automatic control. I have proposed new and original reactive, agile and robust nonlinear control schemes for under-actuated nonlinear systems. The control algorithms developed have been validated in simulation and in real time, which represents an originality of my work.

My research activities focus on three main points: The first is to introduce robust controllers to stabilize a nonlinear system in the presence of severe unknown nonlinear uncertainties (endogenous/exogenous). The second point is the design of original predictive and reactive control schemes for systems with unstable and fast dynamics. These control strategies increase the maneuverability of the system by giving it an agility allowing it to accurately reach high speeds (aggressive actions). And finally, the last point of my research allowed me to propose innovative control solutions to bring out new behaviors in the system, giving them agility and flexibility when they perform a mission. These solutions have been developed for multi-agent systems.

A characteristic of my research is the interdisciplinarity; on the one hand, it has a theoretical character, implementing the design of nonlinear control schemes in order to change the conservative and classical performances that we give to nonlinear systems, to make the system use all its dynamic properties to achieve more precise, more agile and more robust performances. On the other hand, it is to apply experimentally in real time, the proposed control schemes on nonlinear systems with unstable and fast dynamics. The proposed solutions have been applied on robotic systems, with emphasis on aerial robots.

The theoretical and practical results obtained in my research work allow the Heudiasyc laboratory to continue to be a reference in the field of aerial drone control in France. In addition, my scientific results have been published in more than 50 international journals and 100 international conferences. In addition, the prototypes resulting from my research have also been presented at various trade fairs, scientific events or conferences.

From the above the following research areas are covered :