Post-doctoral position in model predictive control for autonomous construction machines
- Saint-Etienne-du-Rouvray, Seine-Maritime
- 32 000-35 000 €/an
- CDD
- Temps-plein
- Based on these models, the second part of the mission will be to develop Lie group-based predictive control laws [3, 4, 5, 6, 7]. These control laws will be used to improve the precision, speed, and fuel consumption of the machines studied. To achieve this, an economic model predictive control approach will be used [8].
- Finally, the third part of the mission will seek to make the predictive control laws previously studied robust [9, 10]. Indeed, the machines under consideration are subject to significant parametric variations as they age. Thus, the considered control strategies will have to be adapted to compensate for these parametric uncertainties [11, 12, 13].
- L. Sciavicco and B. Siciliano, Modelling and control of robot manipulators. Springer, 2001.
- J. Park and K. Kim, “Tracking on Lie group for robot manipulators,” in 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence. IEEE, 2014, pp. 579-584.
- S. Teng, D. Chen, W. Clark, and M. Ghaffari, “An error-state model predictive control on connected matrix Lie groups for legged robot control,” in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2022, pp. 8850-8857.
- U. V. Kalabić, R. Gupta, S. Di Cairano, A. M. Bloch, and I. V. Kolmanovsky, “MPC on manifolds with an application to the control of spacecraft attitude on SO(3),” Automatica, vol. 76, pp. 293-300, 2017.
- J. Jang, S. Teng, and M. Ghaffari, “Convex geometric trajectory tracking using Lie algebraic MPC for autonomous marine vehicles,” arXiv, 2023.
- T. Löw and S. Calinon, “Geometric algebra for optimal control with applications in manipulation tasks,” IEEE Transactions on Robotics, pp. 1-15, 2023.
- L. Grüne and J. Pannek, Nonlinear Model Predictive Control, 2nd ed., ser. Communications and Control Engineering. Springer, 2017.
- D. Limón, I. Alvarado, T. Alamo, and E. F. Camacho, “Robust tube-based MPC for tracking of constrained linear systems with additive disturbances,” Journal of Process Control, vol. 20, no. 3, pp. 248-260, 2010.
- S. V. Raković, “The implicit rigid tube model predictive control,” Automatica, vol. 157, p. 111234, 2023.
- B. Sakhdari and N. L. Azad, “Adaptive tube-based nonlinear mpc for economic autonomous cruise control of plug-in hybrid electric vehicles,” IEEE Transactions on Vehicular Technology, vol. 67, no. 12, pp. 11 390-11 401, 2018.
- A. J. Prado, M. Torres-Torriti, and F. A. Cheein, “Distributed tube-based nonlinear MPC for motion control of skid-steer robots with terra-mechanical constraints,” IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 8045-8052, 2021.
- C. Shi, Y. Yu, Y. Ma, and D. E. Chang, “Constrained control for systems on matrix Lie groups with uncertainties,” International Journal of Robust and Nonlinear Control, vol. 33, no. 5, pp. 3285-3311, 2022.
- E. Bøhn, S. Gros, S. Moe, and T. A. Johansen, “Optimization of the model predictive control meta-parameters through reinforcement learning,” Engineering Applications of Artificial Intelligence, vol. 123, p. 106211, 2023.
- W. Cai, S. Sawant, D. Reinhardt, S. Rastegarpour, and S. Gros, “A learning-based model predictive control strategy for home energy management systems,” IEEE Access, 2023.
- Ph.D. in automatic control.
- Willingness to learn and experiment.
- Ability to present your work in English (ideally in French too), both orally and in writing.
- Open-mindedness, good interpersonal skills and ability to integrate into the existing team.
- Autonomy, curiosity, dynamism.
- Good knowledge of predictive control.
- Good knowledge of geometric modelling and control of robotic systems.
- Experience in Python development.
- Paid between 32 000€ and 35 000€ gross a year depending on profile and experience.
- Meal vouchers (Titres Restaurant) and transport allowance.
- Next to the campus (less than 5 minutes walking): several catering solutions, a supermarket with cultural and multimedia space, and a forest.
- The campus is accessible by public transport (bus and streetcar) and car (parking).
EURAXESS