Ph.D. Defense – Etienne Servais

Etienne Servais is pleased to invite you to his Ph. D. defense entitled “Trajectory planning and control of collaborative systems: Application to trirotor UAVs” on Friday 18 septembre 2015 at 15:00 at Mines Paristech (60 bd St Michel, Paris VI, RER B – Luxembourg), in the amphitheater L 109.

Le Tricoptère avec l'autorisation de D. Kastelan

Picture of the Tricoptere (courtesy of D. Kastelan)

Jury composition:

  • Mme Brigitte d’ANDREA-NOVEL, Professor, Mines ParisTech (Examiner, directeur de thèse) ;
  • M. Jean-Michel CORON, Professor, Université Pierre et Marie Curie (Examiner) ;
  • M. Tarek HAMEL, Professor, Université de Nice Sophia Antipolis (Examiner) ;
  • M. Miroslav KRSTIC, Professor, Université de Californie à San Diego (Examiner) ;
  • M. Hugues MOUNIER, Professor, Université Paris-Sud (Examiner, directeur de thèse) ;
  • M. Silviu-Iulian NICULESCU, Directeur de recherche, CNRS (Invited) ;
  • M. Arnaud QUADRAT, Engineer, Sagem-DS (Invited) ;
  • M. Joachim RUDOLPH, Professor, Université de la Sarre (Examiner) ;
  • M. Claude SAMSON, Directeur de recherche, INRIA (Examiner).


This thesis is dedicated to the creation of a complete framework, from high-level to low-level, of trajectory generation for a group of independent dynamical systems. This framework, based for the trajectory generation, on the resolution of Burgers equation, is applied to a novel model of trirotor UAV and uses the flatness of the two levels of dynamical systems.

The first part of this thesis is dedicated to the generation of trajectories. Formal solutions to the heat equation are created using the differential flatness of this equation. These solutions are transformed into solutions to Burgers’ equation through Hopf-Cole transformation to match the desired formations. They are optimized to match specific requirements. Several examples of trajectories are given.

The second part is dedicated to the autonomous trajectory tracking by a trirotor UAV. This UAV is totally actuated and a nonlinear closed-loop controller is suggested. This controller is tested on the ground and in flight by tracking, rolling or flying, a trajectory. A model is presented and a control approach is suggested to transport a pendulum load.

Comments are closed.