[{"command":"insert","method":null,"selector":".course-modal-ajax-placeholder-965874","data":"\u003Cdiv class=\u0022container content-rte\u0022\u003E\n  \u003Cdiv class=\u0022row\u0022\u003E\n    \u003Cdiv class=\u0022box col-md-6 bg-primary text-white\u0022\u003E\n      \u003Ch2 class=\u0022h1 text-left\u0022\u003E  Contr\u00f4le G\u00e9om\u00e9trique\n\u003C\/h2\u003E\n                  \u003Cdiv class=\u0022field-spacing\u0022\u003E\n        \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EECTS :\n          3\n        \u003C\/div\u003E\n      \u003C\/div\u003E\n                  \u003Cdiv class=\u0022field-spacing\u0022\u003E\n        \u003Cdiv class=\u0022field__label h3 dash\u0022\u003ESemester:\n          Semestre 2\n        \u003C\/div\u003E\n      \u003C\/div\u003E\n            \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003ED\u00e9tail du volume horaire\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                          \u003Cspan class=\u0022field__label h4 mt-5 \u0022\u003ELecture:\u003C\/span\u003E\n                                      \u003Cspan\u003E18\u003C\/span\u003E\n                      \u003C\/div\u003E\n                                                                                        \u003C\/div\u003E\n        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003ELangue d\u0026#039;enseignement\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003EFran\u00e7ais\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EEnseignement \u00e0 distance\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003Enon\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n      \u003C\/div\u003E\n    \u003Cdiv class=\u0022box col-md-6\u0022\u003E\n            \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EPr\u00e9requis\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003E\u003Cp\u003ECe cours pr\u00e9sente plusieurs approches math\u00e9matiques et num\u00e9riques pour planifier des trajectoires de syst\u00e8mes command\u00e9s non-lin\u00e9aires.\u003C\/p\u003E\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EProgramme \/ plan \/ contenus\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003E\u003Cul\u003E\n\u003Cli\u003EIntroduction, Point de vue robotique (survey) Formalisation, classification des probl\u00e8mes\u003C\/li\u003E\n\u003Cli\u003ELe cas lin\u00e9aire : planification directe (grammien), via Brunovsky\u003C\/li\u003E\n\u003Cli\u003EEquivalence de syst\u00e8mes :\n(1) \u00e9quivalence par feedback : d\u00e9finition, crit\u00e8res de lin\u00e9arisation (locale et globale)\n(2) \u00e9quivalence dynamique, platitude\u003C\/li\u003E\n\u003Cli\u003EPropri\u00e9t\u00e9s des ensembles atteignables, rappels de commandabilit\u00e9\u003C\/li\u003E\n\u003Cli\u003ECommande optimal, PMP, LQ\u003C\/li\u003E\n\u003Cli\u003ECalcul des ensembles atteignables, approche \u0022level-set\u0022.\u003C\/li\u003E\n\u003Cli\u003EApproche HJB. Simulations num\u00e9riques\u003C\/li\u003E\n\u003Cli\u003ELe cas non-holonome : m\u00e9thodes bas\u00e9es sur structure d\u2019alg\u00e8bre de Lie, commandes dans des familles para- m\u00e9tr\u00e9es (polyn\u00f4mes, sinuso\u00efdes), ex. des syst\u00e8mes cha\u00een\u00e9s, processus par it\u00e9ration, m\u00e9thode de continuation\u003C\/li\u003E\n\u003C\/ul\u003E\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n                                        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EBibliographie\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003E\u003Cp\u003EA. A. Agrachev and Y. L. Sachkov. Control Theory from the Geometric Viewpoint. Springer-Verlag, 2004.\nV. Jurdjevic. Geometric Control Theory. Cambridge University Press, 1997.\nF. Jean. Control of Nonholonomic Systems : from Sub-Riemannian Geometry to Motion Planning. Springer International Publishing, Springer- Briefs in Mathematics, 2014.\u003C\/p\u003E\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003ENature de l\u0026#039;\u00e9valuation\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003EEvaluation Continue non Int\u00e9grale\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n      \u003C\/div\u003E\n  \u003C\/div\u003E\n\u003C\/div\u003E\n","settings":null}]