This master's thesis aims to make the BRIO Labyrinth Game autonomous and the main focus is on the development of a path following controller. A test-bench system is built using a modern edition of the classic game with the addition of a Raspberry Pi, a camera and two servos. A mathematical model of the ball and plate system is derived to be used in model based controllers. A method of using path projection on a cubic spline interpolated path to derive the reference states is explained. After that, three path following controllers are presented, a modified LQR, a Gain Scheduled LQR and a Gain Scheduled LQR with obstacle avoidance. The performances of these controllers are compared on an easy and a hard labyrinth level, both with respect to the ability of following the reference path and with respect to success rate of controlling the ball from start to finish without falling into any hole. All three controllers achieved a success rate over 90 % on the easy level. On the hard level the Gain Scheduled LQR achieved the highest success rate, 78.7 %, while the modified LQR achieved the lowest deviation from the reference path. The Gain Scheduled LQR with obstacle avoidance performed the worst in both regards. Overall, the results are promising and some insights gained when designing the controllers can possibly be useful for development of controllers in other applications as well.

This dissertation discusses vision-based static obstacle avoidance for a fleet of nonholonomic robots tasked to arrive at a final destination simultaneously. Path generation for each vehicle is computed using a single polynomial function that incorporates the vehicle constraints on velocity and acceleration and satisfies boundary conditions by construction. Furthermore, the arrival criterion and a preliminary obstacle avoidance scheme is incorporated into the path generation. Each robot is equipped with an inertial measurement unit that provides measurements of the vehicle's position and velocity, and a monocular camera that detects obstacles. The obstacle avoidance algorithm deforms the vehicle's original path around at most one obstacle per vehicle in a direction that minimizes an obstacle avoidance potential function. Deconfliction of the vehicles during obstacle avoidance is achieved by imposing a separation condition at the path generation level. Two estimation schemes are applied to estimate the unknown obstacle parameters. The first is an existing method known in the literature as Identifier-Based Observer and the second is a recently-developed fast estimator. It is shown that the performance of the fast estimator and its effect on the obstacle avoidance algorithm can be arbitrarily improved by the appropriate choice of parameters as compared to the Identifier-Based Observer method. Coordination in time of all vehicles is completed in an outer loop which adjusts the desired velocity profile of each vehicle in order to meet the simultaneous arrival constraints. Simulation results illustrate the theoretical findings. / Ph. D.

Les énergies renouvelables représentent aujourd'hui un domaine de développement de plus en plus important, au vu de la consommation énergétique mondiale et de ses conséquences désastreuses sur l'environnement. Les différents accords politiques, notamment l'accord de Paris, ne peuvent à eux seuls apporter une solution définitive au changement climatique actuel. Les contraintes imposées par la réduction des émissions de CO_2 et l’augmentation du prix du pétrole dans l’industrie maritime ont poussé Yves Parlier à lancer le projet « beyond the sea » dans le but de développer des cerfs-volants (kites) dédiés à la propulsion auxiliaire des navires. L'objectif principal de cette étude est donc la modélisation et la commande robuste d'une aile de kite en vol dynamique. Le but à terme étant l'élaboration d'un pilote automatique dédié à la traction d'un navire par kite. Un modèle « point-masse » du kite est proposé afin de comprendre et contrôler sa dynamique. Les différents paramètres du modèle sont estimés à partir de données expérimentales obtenues lors d’essais en conditions réelles. Des simulations en boucle ouverte sont proposées afin de valider la cohérence du modèle. Pour effectuer un vol dynamique, une trajectoire en forme de huit est définie dans la fenêtre de vol. La position, la taille et l’orientation de cette trajectoire sont des paramètres ajustables par l’utilisateur. Un algorithme de suivi de trajectoire est développé permettant ensuite de synthétiser une loi de commande robuste intégrant le modèle du kite. Ce pilote automatique permet donc d’effectuer une grande variété de trajectoires pour toute une gamme de vitesses de vent. Enfin, des simulations en boucle fermée montrant les performances théoriques du système mettent en évidence l’intérêt de la propulsion auxiliaire des navires par kite. / The need in reducing the CO_2 emissions and the increase of oil prices affect all transportation industries and especially the maritime industry. This has led to the search for more energy-saving ship propulsion systems. Taking advantage of wind energy by using tethered wings, or kites, as an alternative propulsion source can be an effective solution. The "beyond the sea" project, led by Yves Parlier, aims to provide ships an alternative green energy source. In most wind conditions, compared to a static flight, a dynamic motion of a tethered wing with an eight-shaped pattern can provide sufficient force through traction to tow a ship. Therefore, the main objective of this study is the modeling and robust control of a tethered kite in dynamic flight. To this end, a point mass model is first used to describe the kite dynamics. The model parameters are estimated from experimental data and the aerodynamic coefficients are identified using data from a quasi-static flight. Open loop simulations are conducted to verify the kite behavior and the overall coherence of the model. To ensure a dynamic flight, an eight-shaped trajectory is defined within the wind window. Its position, size, orientation and direction are all adjustable parameters. A path-following strategy is then developed in order to design a robust control law including the kite model. This allows the system to be used in different trajectories with a wide range of wind speeds. Closed-loop simulations are presented to show the efficiency of the path-following algorithm, and the various theoretical performances obtained shows the efficiency of a kite dedicated to vessels auxiliary propulsion.

Cette thèse traite de la question du contrôle du mouvement d'engins non-holonomes et sous-actionnés évoluant de manière coordonnée et autonome. Les différentes approches considérées sont le suivi de trajectoire (Trajectory Tracking TT) et le suivi de chemin (path following PF). Une nouvelle méthode de contrôle est proposée. Dénommée Path-Tracking (PT), elle permet de cumuler les avantages de chacune des deux précédentes méthodes, permettant de cumuler la souplesse de la convergence induite par le suivi de chemin avec le respect des contraintes temporelles du suivi de trajectoire. L'étude et la réalisation de la commande démarre avec l'étude du cas du robot nonholonome de type Unicycle' et se base sur les principes de Lyapunov' et de Backstepping'. Ces premiers résultats sont ensuite étendus au cas d'un véhicule sous-marin sous-actionné de type AUV (Autonomous Underwater Vehicle'), en analysant les similarités cinématiques entre ces deux types de véhicules. De plus, il est montré la nécessité de prendre en compte les propriétés dynamiques du système de type AUV, et la condition de Stern dominancy' est établie de façon à garantir que le problème est bien posé et ainsi que la commande soit aisément calculable. Dans la cas d'un système marin sur-actionné, qui peut ainsi effectuer des tâches de navigation au long cours et de positionnement désiré (Station keeping'), une commande hybride est proposée. Enfin, la question du contrôle coordonné d'une formation d'engins marin est abordée. Les colutions de commande pour les taches de suivi de chemin coordonné (coordinated path following') et de coordinated path tracking' sont proposées. Les principes du leader-follower' et la méthode des structures virtuelles sont ainsi traitées dans un cadre de contrôle centralisé, et le cas décentralisé est traité en utilisant certains principes de théorie des graphes. / In this dissertation, the problems of motion control of underactuated autonomous vehicles are addressed,namely trajectory tracking (TT), path following (PF), and novelly proposed path tracking whichblending the PF and TT together in order to achieve smooth spatial convergence and tight temporalperformance as well.The control design is firstly started from the benchmark case of nonholonomic unicycle-type vehicles,where the Lyapunov-based design and backstepping technique are employed, and then it is extendedto the underactuated AUVs based on the similarity between the control inputs of two kinds of vehicles.Moreover, dealing with acceleration of side-slip angle is highlighted and stern-dominant property of AUVsis standing out in order to achieve well-posed control computation. Transitions of motion control fromunderactuated to fully actuated AUVs are also proposed.Finally, coordinated formation control of multiple autonomous vehicles are addressed in two-folds,including coordinated paths following and coordinated paths tracking, based on leader-follower andvirtual structure method respectively under the centralized control framework, and then solved underdecentralized control framework by resorting to algebraic graph theory.

Le prochain secteur à être fortement automatisé est sans doute celui du transport routier. D’abord en environnement peu complexe comme c’est déjà le cas sur autoroute, puis à terme dans les scénarios les plus difficiles, comme ceux rencontrés au coeur du trafic urbain. Une étape intermédiaire consiste à introduire des véhicules autonomes en milieu urbain, mais hors du trafic, comme sur des sites fermés. Ces environnements présentent des caractéristiques particulières, comme un encombrement important. Alors, pour être en mesure de naviguer en toute autonomie, les véhicules doivent être à la fois agiles, précis et sûrs, mais aussi efficaces, donc rapides. Ce travail de thèse adresse deux problématiques clés de la navigation autonome en milieu encombré : la planification et le suivi de chemin pour les véhicules à deux trains directeurs (4WS). En effet, la cinématique 4WS est la réponse des constructeurs au besoin d’agilité et nécessite le développement de techniques de commande adaptées. La planification de chemin en temps-réel permet l’évitement d’obstacles, de façon à rendre le service robuste aux aléas de l’environnement. Le contrôle automatique de la direction permet ensuite de suivre ces chemins avec précision. La principale difficulté concernant la planification de chemin est le contraste entre la faible puissance de calcul embarquée sur le véhicule et la forte contrainte temporelle qu’impose le besoin de réactivité. Il s’agit donc de choisir l’approche adéquate et de mettre en place les simplifications algorithmiques les plus efficaces, c’est-à-dire qui réduisent la quantité de calculs nécessaires sans réduire la qualité des chemins générés. De plus, la planification de chemin en milieu encombré pose le problème des impasses dans lesquelles les méthodes les plus réactives restent coincées. De fait, l’approche retenue consiste à construire une fonction de navigation en deux dimensions dont est extrait le chemin. Au sens des critères choisis, il est optimal pour un véhicule circulaire. Des stratégies sont alors mises en place pour adapter cet algorithme aux véhicules 4WS de forme rectangulaire, comme la notion centrale de double-chemin qui permet de représenter la trajectoire d’un mobile à trois degrés de liberté dans un espace en deux dimensions. Enfin, d’autres stratégies et heuristiques sont introduites pour optimiser les performances de l’algorithme de planification et lui permettre de générer des manoeuvres efficaces. Concernant le développement du contrôleur de direction, il s’agit de choisir le modèle d’évolution qui retranscrit au mieux le comportement du véhicule vis-à-vis du double chemin qu’il doit suivre, puis d’en déduire les lois de commande des trains avant et arrière. Ayant été éprouvé par de nombreux travaux, le modèle bicyclette 4WS a été choisi. Ce modèle cinématique permet d’introduire facilement des angles de dérive utiles à la compensation des glissements des pneus sur le sol, qu’ils soient dus à un manque d’adhérence ou à une géométrie imparfaite des trains. Des lois de commande par retour d’état sont ensuite synthétisées et une stratégie de gestion de la saturation des actionneurs est proposée. Enfin, ce premier contrôleur est décliné en une version prédictive qui apporte un suivi de chemin d’une grande stabilité sur les véhicules réels. Les contributions ont toutes été évaluées en simulation et lors d’expérimentations en vraie grandeur sur l’EZ10, une navette électrique 4WS industrielle. Enfin, il se trouve que les performances obtenues dépassent les attentes initiales. / The next sector to be highly automated is probably road transport. First in an uncomplicated environment as is already the case on highway, then eventually in the most difficult scenarios, such as those encountered at the heart of the urban traffic. An intermediate step is to introduce autonomous vehicles in urban areas, but outside traffic, as on closed sites. These environments have particular characteristics, they can be very cluttered. So to be able to navigate autonomously, the vehicles have to be agile, precise and safe, but also efficient, i.e. fast. This thesis addresses two key issues of autonomous navigation in cluttered environments: path planning and tracking for bi-steerable (4WS) vehicles. Indeed, the 4WS kinematics is the response of the manufacturers to the need for agility and requires the development of adapted control techniques. Real-time path planning allows the avoidance of obstacles in order to make the service robust to the vagaries of the environment. The automatic control of the direction then makes it possible to follow these paths with precision. The main difficulty about path planning is the contrast between the low onboard computing power and the high temporal constraints imposed by the need for reactivity. It is thus necessary to choose the appropriate approach and to implement the most efficient algorithmic simplifications, i.e. reducing the amount of calculations without reducing the quality of the generated paths. In addition, path planning in cluttered environment raises the problem of dead-ends in which the most reactive methods remain stuck. Then, the adopted approach consists in constructing a navigation function in two dimensions from which the path is extracted. In the sense of the chosen criteria, it is optimal for a circular vehicle. Strategies are then put in place to adapt this algorithm to 4WS vehicles of rectangular shape, such as the central dual-path concept which allows to represent the trajectory of a mobile with three degrees of freedom in a two-dimensional space. Finally, other strategies and heuristics are introduced to optimize the performance of the planning algorithm and allow it to generate efficient maneuvers. Concerning the development of the controller, it is about choosing the evolution model which best reflects the behavior of the vehicle with respect to the dual-path that it must follow and then deducing the front and rear control laws. The 4WS bicycle model has shown itself to be very effective. This kinematic model makes it possible to easily introduce useful side-slip angles allowing to compensate the slippage of the tires on the ground, whether due to a lack of grip or an imperfect geometry of the axles. State feedback control laws are then synthesized and a strategy for managing the saturation of the actuators is proposed. Finally, this first controller is declined in a predictive version that provides a very stable tracking on real vehicles.The contributions were all evaluated in simulation and in full-scale experiments on the EZ10, an industrial 4WS electric shuttle. Finally, it turns out that the performances exceed initial expectations.

To stay competitive internationally, the Swedish forestry sector must increase its productivity by 2 to 3% annually. There are a variety of ways in which productivity can be increased. One option is to develop remote-controlled or unmanned machines, thus reducing the need for operator intervention. Another option—and one that could be achieved sooner than full automation—would be to make some functions semi-automatic. Semi-automatic operation of the knuckle boom and felling head in particular would create “mini-breaks” for the operators, thereby reducing mental and physiological stress. It would also reduce training time and increase the productivity of a large proportion of operators. The objective of this thesis work has been to develop and evaluate algorithms for simplified boom control on forest machines. Algorithms for so called boom tip control, as well as automatic boom functions have been introduced. The algorithms solve the inverse kinematics of kinematically redundant knuckle booms while maximizing lifting capacity. The boom tip control was evaluated – first by means of a kinematic simulation and then in a dynamic forest machine simulator. The results show that boom tip control is an easier system to learn in comparison to conventional control, leading to savings in production due to shorter learning times and operators being able to reach full production sooner. Boom tip control also creates less mental strain than conventional control, which in the long run will reduce mental stress on operators of forest machines. The maximum lifting capacity algorithm was then developed further to enable TCP path-tracking, which was also implemented and evaluated in the simulator. An evaluation of the fidelity of the dynamic forest machine simulator was performed to ensure validity of the results achieved with the simplified boom control. The results from the study show that there is good fidelity between the forest machine simulator and a real forest machine, and that the results from simulations are reliable. It is also concluded that the simulator was a useful research tool for the studies performed in the context of this thesis work. The thesis had two overall objectives. The first was to provide the industry and forestry sector with usable and verified ideas and results in the area of automation. This has been accomplished with the implementation of a simplified boom control and semi-automation on a forwarder in a recently started joint venture between a hydraulic manufacturer, a forest machine manufacturer and a forest enterprise. The second objective was to strengthen the research and development links between the forestry sector and technical university research. This has been accomplished through the thesis work itself and by a number of courses, projects and Masters theses over the last three years. About 150 students in total have been studying forest machine technology in one way or the other. / QC 20100729

Objectifs de la thèse : l’analyse à rupture de structure de type solides et membranes et la modélisation de la rupture quasi-fragile par la méthode des éléments finis à forte discontinuité en cas de solide 2D. Dans ce travail, la méthode de continuation avec une équation de contrainte quadratique est présentée sous sa forme linéarisée. En présence de ruptures locales, la méthode de continuation standard peut échouer. Afin d’améliorer la performance de cette méthode, nous proposons de nouvelles versions plus sophistiquées qui prennent en compte les ruptures locales des matériaux. D’une part, une version est basée sur une équation supplémentaire adaptative imposant une limitation. Cette version est considérée relativement satisfaisante pour les matériaux adoucissants. D’autres versions sont basées sur le contrôle de la dissipation incrémentale pour les matériaux inélastiques. Plusieurs formulations d’éléments finis à forte discontinuité sont présentées en détails pour l’analyse de rupture quasi-fragile. Les approximations discrètes du champ de déplacement sont basées sur des éléments quadrilatéraux isoparamétriques ou des éléments quadrilatéraux enrichis par la méthode des modes incompatibles. Afin de décrire la formation d’une fissure ainsi que son ouverture, la cinématique de l’élément est enrichie par quatre modes de séparation et des paramètres cinématiques. On a également proposé un nouvel algorithme de repérage de fissure pour l’évaluation de la propagation de la fissure à travers le maillage. Plusieurs exemples numériques sont réalisés afin de montrer la performance de l’élément quadrilatéral à forte discontinuité ainsi que l’algorithme de repérage de fissure proposé. / The thesis studies: the methods for failure analysis of solids and structures, and the embedded strong discontinuity finite elements for modelling material failures in quasi brittle 2d solids. As for the failure analysis, the consistently linearized path-following method with quadratic constraint equation is first presented and studied in detail. The derived path-following method can be applied in the nonlinear finite element analysis of solids and structures in order to compute a highly nonlinear solution path. However, when analysing the nonlinear problems with the localized material failures (i.e. materialsoftening), standard path-following methods can fail. For this reason we derived new versions of the pathfollowing method, with other constraint functions, more suited for problems that take into account localized material failures. One version is based on adaptive one-degree-of-freedom constraint equation, which proved to be relatively successful in analysing problems with the material softening that are modelled by the embedded-discontinuity finite elements. The other versions are based on controlling incremental plastic dissipation or plastic work in an inelastic structure. The dissipation due to crack opening and propagation, computed by e.g. embedded discontinuity finite elements, is taken into account. The advantages and disadvantages of the presented path-following methods with different constraint equations are discussed and illustrated on a set of numerical examples. As for the modelling material failures in quasi brittle 2d solids (e.g. concrete), several embedded strong discontinuity finite element formulations are derived and studied. The considered formulations are based either on: (a) classical displacement-based isoparametric quadrilateral finite element or (b) on quadrilateral finite element enhanced with incompatible displacements. In order to describe a crack formation and opening, the element kinematics is enhanced by four basic separation modes and related kinematic parameters. The interpolation functions that describe enhanced kinematics have a jump in displacements along the crack. Two possibilities were studied for deriving the operators in the local equilibrium equations that are responsible for relating the bulk stresses with the tractions in the crack. For the crack embedment, the major-principle-stress criterion was used, which is suitable for the quasi brittle materials. The normal and tangential cohesion tractions in the crack are described by two uncoupled, nonassociative damage-softening constitutive relations. A new crack tracing algorithm is proposed for computation of crack propagation through the mesh. It allows for crack formation in several elements in a single solution increment. Results of a set of numerical examples are provided in order to assess the performance of derived embedded strong discontinuity quadrilateral finite element formulations, the crack tracing algorithm, and the solution methods. / Doktorska disertacija obravnava: (i) metode za porušno analizo trdnih teles in konstrukcij, ter (ii) končne elemente z vgrajeno močno nezveznostjo za modeliranje materialne porušitve v kvazi krhkih 2d trdnih telesih. Za porušno analizo smo najprej preučili konsistentno linearizirano metodo sledenja ravnotežne poti skvadratno vezno enačbo (metoda krožnega loka). Metoda omogoča izračun analize nelinearnih modelov, ki imajo izrazito nelinearno ravnotežno pot. Kljub temu standardne metode sledenja poti lahko odpovedo,kadar analiziramo nelinearne probleme z lokalizirano materialno porušitvijo (mehčanje materiala). Zatosmo izpeljali nove različice metode sledenja poti z drugimi veznimi enačbami, ki so bolj primerne zaprobleme z lokalizirano porušitvijo materiala. Ena različica temelji na adaptivni vezni enačbi, pri katerivodimo izbrano prostostno stopnjo. Izkazalo se je, da je metoda relativno uspešna pri analizi problemov zmaterialnim mehčanjem, ki so modelirani s končnimi elementi z vgrajeno nezveznostjo. Druge različicetemeljijo na kontroli plastične disipacije ali plastičnega dela v neelastičnem trdnem telesu ali konstrukciji.Upoštevana je tudi disipacija zaradi širjenja razpok v elementih z vgrajeno nezveznostjo. Prednosti inslabosti predstavljenih metod sledenja ravnotežnih poti z različnimi veznimi enačbami so predstavljeni naštevilnih numeričnih primerih. Za modeliranje porušitve materiala v kvazi krhkih 2d trdnih telesih (npr. betonskih) smo izpeljali različne formulacije končnih elementov z vgrajeno močno nezveznostjo v pomikih. Obravnavane formulacije temeljijo bodisi (a) na klasičnem izoparametričnem štirikotnem končnem elementu bodisi (b) na štirikotnem končnem elementu, ki je izboljšan z nekompatibilnimi oblikami za pomike. Nastanek in širjenje razpoke opišemo tako, da kinematiko v elementu dopolnimo s štirimi osnovnimi oblikami širjenja razpoke in pripadajočimi kinematičnimi parametri. Interpolacijske funkcije, ki opisujejo izboljšano kinematiko, zajemajo skoke v pomikih vzdolž razpoke. Obravnavali smo dva načina izpeljave operatorjev, ki nastopajo v lokalni ravnotežni enačbi in povezujejo napetosti v končnem elementu z napetostmi na vgrajeni nezveznosti. Kriterij za vstavitev nezveznosti (razpoke) temelji na kriteriju največje glavne napetosti in je primeren za krhke materiale. Normalne in tangentne kohezijske napetosti v razpoki opišemo z dvema nepovezanima, poškodbenima konstitutivnima zakonoma za mehčanje. Predlagamo novi algoritem za sledenje razpoki za izračun širjenja razpoke v mreži končnih elementov. Algoritem omogoča formacijo razpok v več končnih elementih v enem obtežnem koraku. Izračunali smo številne numerične primere, da bi ocenili delovanje izpeljanih formulacij štirikotnih končnih elementov z vgrajeno nezveznostjo in algoritma za sledenje razpoki kot tudi delovanje metod sledenja ravnotežnih poti.

[pt] Neste trabalho estudamos os algoritmos de Pontos Interiores para programação Linear. Publicados após o Algoritmo de Karmarkar. Que seguem, de algum modo, a Trajetória Central. São considerados tanto algoritmos Primais quanto Primais-Duais e também verificadas a eficácia da aplicação da metodologia de busca bidirecional. Estes métodos foram implementados e testados resolvendo um conjunto de problemas gerados aleatoriamente. Através da comparação dos resultados analisamos o desempenho das diferentes metodologias. / [en] We study here the Interior Points Algorithms for Linear Programming, developed after Karmarkar s Algorithm, which follow the Central Path. Both Primal and Primal-dual Algorithms are considered and also the efficiency of applying a bidirecional Search procedure is verified. These methods were implemented and tested solving a set of randomly generated problems. Comparing these results we analyze the performance of the methodologies.

Membrane structures are commonly used in many elds. The studies of thesestructures are of increasing interest. The two projects focus on the evaluations ofequilibrium states for uid-pressurized membranes under dierent loading conditions,and the corresponding instability behavior.The rst part of the current work discusses the instability behavior of a thin,planar, circular and initially horizontal membrane subjected to downwards or upwards uid pressure. The membrane structures exhibit large deformations under uid pressure. Various instability behaviors have been observed for dierent loadingparameters. Limit and bifurcation points have been detected for dierent loadingconditions. Dierent loading parameters have been used to interpret the instabilitybehavior. The eects on instability of parameters, the initial states of the membrane,and the chosen mesh have been discussed.The second part of the current work discusses instability behavior of a thin,spherical and closed membrane containing gas and uid placed on a horizontal rigidand non-friction plane. A multi-parametric loading has been described. By addingthe practically relevant controlling equations, the complex equilibrium paths werefollowed using the generalized path following algorithm, and the stability conclusionswere made dierently, according to the considered load parameters and theconstraints. A generalized eigenvalue analysis was used to evaluate the stabilitybehavior including the constraint eects. Fold line evaluations were performed toanalyze the parametric dependence of the instability behavior. A solution surfaceapproach was used to visualize the mechanical response under this multi-parametricsetting. / <p>QC 20151029</p>

Les microrobots magnétiques, qui nagent en utilisant des modes de propulsion bio-inspirées, apparaissent très prometteurs pour la manipulation et la caractérisation d'objets à l'échelle microscopique dans des environnements confinés et très restreints, contrairement aux méthodes de micromanipulation classiques. La littérature propose une variété de microrobots avec des formes géométriques et des propriétés magnétiques différentes. Les commandes en mouvement proposées restent cependant simples, peu précises et insuffisamment robustes pour la réalisation de tâches réelles. De plus, il subsiste une incertitude sur le fait que tous ces micronageurs artificiels peuvent accomplir les mêmes tâches avec une performance égale. L'objectif de cette thèse consiste alors à proposer : des commandes de mouvement génériques par asservissement visuel dans l'espace pour tous les types de micronageurs avec des contraintes non holonomes afin d'améliorer les performances de ces micronageurs, un ensemble de critères de comparaison entre des robots avec une topologie ou un mode de propulsion différents pour le choix du micronageur le plus performant pour réaliser une tâche particulière. Des lois de commande de suivi de chemin dans l'espace sont synthétisées et validées expérimentalement sur des nageurs hélicoïdal et flexible sous différentes conditions. Ces robots évoluent dans un fluide à faible nombre de Reynolds, imitant respectivement le mécanisme de locomotion des bactéries et des spermatozoïdes et sont actionnés par un champ magnétique uniforme. Ces deux classes de nageurs possèdent une géométrie et un mode d'actionnement différents. Leurs performances sont ainsi comparées. / Magnetic microrobots, which swim using bio-inspired propulsion modes, appear very promising for manipulation and characterization of objects at microscopic scale inside confined and very restricted environments, unlike conventional micromanipulation methods. The literature proposes a variety of microrobots with different geometric shapes and magnetic properties. However, the motion controls proposed remain simple, imprecise and insufficiently robust for performing real tasks. In addition, there is still uncertainty that all these artificial microswimmers can accomplish the same tasks with equal performance. The objective of this thesis is thus to propose : generic motion controls by visual servoing in space for all kinds of microswimmers with nonholonomic constraints in order to improve the microswimmer performances, a set of comparison criteria between robots with a different topology or propulsion mode for choosing the most efficient microswimmer in order to perform a specific task. Path following control laws in space are synthesized and experimentally validated on helical and flexible swimmers under different conditions. These robots operate in low Reynolds number fluid, imitating respectively bacteria and spermatozoa and are actuated with uniform magnetic field. These two classes of swimmers have different actuation mode and geometric shape. Their performances are thus compared according to the task to be performed, the environment in which the robots evolve and the manufacturing constraints.