Université de Rennes 1 Commande prédictive pour la réalisation de tâches d'asservissement visuel successives Predictive control for the achievement of successive visual servoing tasks Vision par ordinateurAsservissement visuelCommande prédictive basée modèle Computer visionVisual servoingModel based predictive control Vision par ordinateur Thèses et écrits académiques Commande prédictive Thèses et écrits académiques The computer vision is used for the achievement of many applications of modern robotics. One of the current research topics that aims to improve these systems is focused on command. The objective consists to propose original control schemes to effectively link the information measured by the vision sensor to the actions that are to be achieved with the robots. This document is part of this look by bringing new methods to classical robotic control involving vision, the visual servoing. The case of visual information losses during the achievement of a visual servoing task is studied. In this sense, two prediction methods that allow the task to be achieved despite these losses are presented. Then a new method of correction is proposed. This provides better prediction results than a conventional method, as shown by the results obtained in simulation and in real conditions. Finally, in the context of the achievement of several successive visual servoing tasks, a new method is presented. This exploits the characteristics of a control scheme used for several decades in industry and research, model based predictive control. The results obtained in simulation propose to see the effect of this method on the behavior of a drone that embeds a camera. The computer vision is used for the achievement of many applications of modern robotics. One of the current research topics that aims to improve these systems is focused on command. The objective consists to propose original control schemes to effectively link the information measured by the vision sensor to the actions that are to be achieved with the robots. This document is part of this look by bringing new methods to classical robotic control involving vision, the visual servoing. The case of visual information losses during the achievement of a visual servoing task is studied. In this sense, two prediction methods that allow the task to be achieved despite these losses are presented. Then a new method of correction is proposed. This provides better prediction results than a conventional method, as shown by the results obtained in simulation and in real conditions. Finally, in the context of the achievement of several successive visual servoing tasks, a new method is presented. This exploits the characteristics of a control scheme used for several decades in industry and research, model based predictive control. The results obtained in simulation propose to see the effect of this method on the behavior of a drone that embeds a camera. Electronic Thesis or DissertationText fr application/pdf1 : 15312 Kohttps://ecm.univ-rennes1.fr/nuxeo/site/esupversions/d4087630-944f-455c-883a-0a811ef0f015 Cazy Nicolas 1990-03-18 FR 197586821 cazy.nicolas@gmail.com 2016REN1S050 http://www.theses.fr/2016REN1S050 2016-11-29 Informatique Universite de Rennes 1thesis.degree.grantor_1 02778715X Doctorat non ouiChaumetteFrançoisintervenant_1059347856 MATISSEecoleDoctorale_1 139007164 Universite Bretagne LoirepartenaireRecherche_1 191639044 IRISA partenaireRecherche_2 026386909 INRIA-RENNES partenaireRecherche_3 133175863 LAGADICpartenaireRecherche_4 ddc:004 ChaumetteFrançoisUniversite de Rennes 1Sciences et technologie, medecine, pharmacie, odontologie, droit, economie, gestion, philosophieMATISSEÉcole doctorale Mathématiques, informatique, signal, électronique et télécommunications (Rennes)Universite Bretagne Loire Communaute des etablissements d enseignement superieur et de recherche (ComuE) IRISA INRIA-RENNES LAGADIC ASCII PDF 15679366