Dissertations / Theses on the topic 'Commande sous contrainte'
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Fischman, Arao. "Commande robuste des systèmes sous contraintes structurelles." Grenoble INPG, 1998. http://www.theses.fr/1998INPG0007.
Pfeiffer, Laurent. "Analyse de sensibilité pour des problèmes de commande optimale. Commande optimale stochastique sous contrainte en probabilité." Phd thesis, Ecole Polytechnique X, 2013. http://pastel.archives-ouvertes.fr/pastel-00881119.
Nguyen, Minh Tri. "Commande adaptative multivariable avec contraintes." Grenoble INPG, 1989. http://www.theses.fr/1989INPG0100.
Jabbari, Imed. "Commandes non linéaires sous contraintes pour les Robots Parallèles à Câbles." Electronic Thesis or Diss., Université de Lorraine, 2022. http://www.theses.fr/2022LORR0186.
This study concerns the control of nonlinear systems under constraints for parallel robots with cables. These have grown in popularity over the past twenty years. Indeed, cable robots have several advantages over rigid robots, namely a very large workspace, moving heavy loads with high speed and precision, low inertia, simple and fast reconfiguration, and finally low manufacturing cost. The applications are numerous: in the medical field, in biology, to study the behavior of insects in free flight, in port activities to move containers or for the construction of buildings.This type of system represents a major interest in the analysis and synthesis of dynamical systems. Indeed, cable robots, through their modeling, represent a large class of nonlinear electromechanical systems with the additional difficulty of solving an algebraic constraint on cable tensions. It is worth pointing out that the control of (free-end) robots has been largely addressed/solved by classical approaches using elegant solutions, the control of cable robots remains a difficult problem to solve given this constraint. There are few results, often local and heuristic with simplifying assumptions, but far from being a satisfactory solution.It is useful to remember that the main feature of cable robots is that the kinematic chains are not rigid segments, but made up of flexible cables. The latter are attached, at one end, to the mobile base (or terminal device in industrial parlance) and, at the other end, to an electric actuator/motor. This particularity introduces a strong constraint, unlike series robots with free ends, on the tensions of the cables which must belong to a given and positive range in order to avoid breaks or the formation of belly. Therefore, the issues related to the control of parallel robots with cables are not only to bring the robot from one point to another, to follow a trajectory, but also to satisfy these constraints.In this thesis, we answer this problem by proposing simple and effective control laws according to two different approaches:The first consists in developing a control law with convergence in finite time using the “sliding mode” method for a robot with eight motors (moving in 3D). Very few parameters are required to implement this technique, which still requires an optimization algorithm. Numerical simulations are promising and give very satisfactory results.The second approach is quite different and original, after some clever transformations, we write the dynamics of the error in a bilinear form then we establish a time control law varying under saturation constraints. By using a time-varying Lyapunov function, we demonstrate the exponential convergence of the tracking error. This result has been successfully applied to robots with four motors (2D) and then with eight motors (3D). It is important to emphasize that this approach, contrary to the literature, is freed from the use of optimization algorithms which can sometimes pose convergence problems.Finally, it is useful to emphasize that these results have been validated through several numerical simulations
Malisani, Paul. "Pilotage dynamique de l'énergie du bâtiment par commande optimale sous contraintes utilisant la pénalisation intérieure." Phd thesis, Ecole Nationale Supérieure des Mines de Paris, 2012. http://pastel.archives-ouvertes.fr/pastel-00740044.
Leishman, Frédéric. "Conception de fonctionnalités d'assistance robotisée à la mobilité sous contrainte d'acceptabilité et d'adaptabilité." Electronic Thesis or Diss., Université de Lorraine, 2012. http://www.theses.fr/2012LORR0039.
The Smart Wheelchairs, that are equipped for autonomous navigation functionalities, aim to relieve people with disabilities who have difficulty to drive a standard electric wheelchair. Since the 80s, many studies have been conducted to design such prototypes but very few have led to real progress for users and only for simple functionalities. This can be explained by several factors, including the underestimation of the constraints of acceptability and adaptability. In this context, our goal is to provide a driving assistance in respect of these constraints. For this, we design a lightweight system, consisting of three laser sensors, a camera and a computer. It is adaptable to any type of electric wheelchair and allowed us to develop the functionalities of passing through of the narrow passages and wall following, as well as an ergonomic human-machine interface. This latter is established by a deictic command which consists in to provide an overview of the environment where the user indicates the chosen autonomous task by his application location, and then the wheelchair performs the corresponding action automatically. Moreover, all contact with the joystick gives back the control to the user so that he does not feel a prisoner of assistance; well the driving is composed of alternating manual controls and indications on the interface. Finally, the evaluation of our assistance in the conduct took place in three stages. The first, qualitative, is to present and to do try the system to potential users. In a second step, we compare quantitatively the performance of the assistance driving with those of a manual driving on a panel of valid persons (travel time, number of actions, discomfort index?). The third step is to assess the cognitive load of users in both driving modes by measuring the attentional load and decision-making capacity from a dual task method
Leishman, Frédéric. "Conception de fonctionnalités d'assistance robotisée à la mobilité sous contrainte d'acceptabilité et d'adaptabilité." Thesis, Université de Lorraine, 2012. http://www.theses.fr/2012LORR0039/document.
The Smart Wheelchairs, that are equipped for autonomous navigation functionalities, aim to relieve people with disabilities who have difficulty to drive a standard electric wheelchair. Since the 80s, many studies have been conducted to design such prototypes but very few have led to real progress for users and only for simple functionalities. This can be explained by several factors, including the underestimation of the constraints of acceptability and adaptability. In this context, our goal is to provide a driving assistance in respect of these constraints. For this, we design a lightweight system, consisting of three laser sensors, a camera and a computer. It is adaptable to any type of electric wheelchair and allowed us to develop the functionalities of passing through of the narrow passages and wall following, as well as an ergonomic human-machine interface. This latter is established by a deictic command which consists in to provide an overview of the environment where the user indicates the chosen autonomous task by his application location, and then the wheelchair performs the corresponding action automatically. Moreover, all contact with the joystick gives back the control to the user so that he does not feel a prisoner of assistance; well the driving is composed of alternating manual controls and indications on the interface. Finally, the evaluation of our assistance in the conduct took place in three stages. The first, qualitative, is to present and to do try the system to potential users. In a second step, we compare quantitatively the performance of the assistance driving with those of a manual driving on a panel of valid persons (travel time, number of actions, discomfort index?). The third step is to assess the cognitive load of users in both driving modes by measuring the attentional load and decision-making capacity from a dual task method
Trabuco, D´orea Carlos Eduardo. "Sur l'(A, B)-invariance de polyèdres convexes ; application à la commande sous contraintes et au problème l1." Toulouse 3, 1997. https://tel.archives-ouvertes.fr/tel-00010088.
Nahayo, Fulgence. "Modèle mathématique d’optimisation non-linéaire du bruit des avions commerciaux en approche sous contrainte énergétique." Thesis, Lyon 1, 2012. http://www.theses.fr/2012LYO10080/document.
This thesis develops an mathematical non-linear optimization model of flight paths of two aircraft in approach minimizing the perceived noise on the ground while energetic constraint is considered. This is an analytical model of non-linear and non-convex optimal control governed by a system of ordinary differential equations resulting from the dynamics of flight and with their associated constraints. Our contribution focuses on the mathematical modeling equations, optimization and algorithmic programming of an acoustic non-linear optimization model of two aircraft simultaneously on approach. The addressed issues are the mathematical development of the «correct» 3D model, their flight dynamics, the mathematical modeling of the optimal control of dynamic system, the consideration of fuel consumption by aircraft as a differential equation with a consumption function specific variable depending on the evolution of their dynamics, the mathematical modeling of the instantaneous objective function representing the overall noise of the two approaching aircraft. Resolution deals with the direct method of sequential quadratic programming with confidence regions while AMPL programming language and KNITRO are considered. An indirect method was applied under the Pontryagin maximum principle, followed by a Runge-Kutta symplectic partitioned discretization to demonstrate the commutation between the direct approach and indirect approach. The expected results confirm optimal trajectories reducing ground noise and fuel consumption of two aircraft
Derbel, Nabil. "Sur l'utilisation de la programmation dynamique différentielle pour la commande optimale de systèmes complexes." Toulouse, INSA, 1989. http://www.theses.fr/1989ISAT0036.
Balloul, Iyad. "Commande robuste des systemes non linéaires." Grenoble INPG, 2000. http://www.theses.fr/2000INPG0001.
Simon, Antoine. "Optimisation énergétique de chaînes de traction hybrides essence et Diesel sous contrainte de polluants : Étude et validation expérimentale." Thesis, Orléans, 2018. http://www.theses.fr/2018ORLE2010.
Powertrain hybridization is a solution that has been adopted in order to conform to future standards for emissions regulations. The supervisory strategy of the hybrid powertrain divides the power emitted between the internal combustion engine and the electric machine. In past studies, this strategy has typically responded to an optimization problem with the objective of reducing consumption. However, in addition to this, it is now necessary to take pollutant emissions into account as well. The after-treatment system, placed in the exhaust of the engine, is able to reduce pollutants emitted into the atmosphere. It is efficient from a certain temperature threshold, and the temperature of the system is dependent on the heat brought by the exhaust gas of the engine. The first part of this dissertation is aimed at modelling the energy consumption and pollutant emissions of the hybrid powertrain. The efficiency model of the after-treatment system is adapted for use in two different contexts. The zero-dimensional model conforms to the constraints of the optimal control calculation. The one-dimensional model associated with a state estimator can be embedded in a vehicle and calculated in real time. From this work, the second part of this dissertation deduces supervisory strategies from the optimal control theory. On the one hand, Bellman’s principle is used to calculate the optimal control of a Diesel hybrid vehicle using different supervisory criteria, each having more or less information about the after-treatment system efficiency over NOX emissions. On the other hand, a strategy from Pontryagin’s minimum principle, embedded in a gasoline hybrid vehicle, running in real time and calibrated with two parameters, is proposed. The whole of this work is validated experimentally on an engine test bed and shows a significant reduction in pollutant emissions for a slight fuel consumption penalty
Vu, Duc Tan. "Commande tolérante aux défauts des entraînements de machines synchrones à aimants permanents polyphasées non-sinusoïdales sous contraintes de courant et de tension pour les applications automobiles." Electronic Thesis or Diss., Paris, HESAM, 2020. http://www.theses.fr/2020HESAE040.
Electric drives for electrified vehicles need to fulfil some specific requirements from automotive markets such as high efficiency, high volume power and torque densities, low-cost but safe-to-touch, high functional reliability, high torque quality, and flux-weakening control. In this context, multiphase permanent magnet synchronous machine (PMSM) drives have become suitable candidates to meet the above requirements. The main objective of this doctoral thesis is to propose and refine fault-tolerant control strategies for non-sinusoidal multiphase PMSM drives that require less constraints on their design. In addition, constraints on current and voltage defined by the inverter and the machine are considered to optimize the machine control under the non-sinusoidal condition without exceeding their allowable limits. Therefore, the system sizing is guaranteed, especially in flux-weakening operations. The proposed fault-tolerant control strategies, based on the mathematical model of multiphase drives, enrich the control field of multiphase drives by providing various control options. The selection of one of the proposed control options can be a trade-off between a high quality torque but a low average value and a high average torque but a relatively high ripple. The control and torque performances of the drives can be refined by using artificial intelligence with a simple type of artificial neural networks named ADALINE (ADAptive LInear NEuron). With self-learning ability, fast convergence, and simplicity, ADALINEs can be applied to industrial multiphase drives. All proposed control strategies in this doctoral thesis are validated with an experimental seven-phase PMSM drive. The non-sinusoidal back electromotive force (back-EMF) of the experimental seven-phase PMSM is complex with the presence of multi-harmonics. Experimental results verify the effectiveness of the proposed strategies, and their applicability in a multiphase machine with a complex non-sinusoidal back-EMF
Bougatef, Naima. "Commande sous contraintes des systèmes discrets périodiques." Phd thesis, Ecole Supérieure d'Ingénieurs de Poitiers - ESIP, 2012. http://tel.archives-ouvertes.fr/tel-00960391.
BEZIAT, JEAN-PAUL. "Sur la commande adaptative multivariable sous contraintes." Toulouse 3, 1989. http://www.theses.fr/1989TOU30050.
Yedes-Bougatef, Naima. "Commande sous contraintes des systèmes discrets périodiques." Thesis, Poitiers, 2012. http://www.theses.fr/2012POIT2305/document.
This thesis deals with the analysis and the control problem of periodic linear discrete systems (PLDS). The contributions presented in this work focuses on the constrained control of PLDS. Conditions for stability analysis and positivity are established in terms of strict LMI (Linear Matrix Inequalities). The stabilization of PLDS under the condition that the closed-loop system is positive and stable is addressed as well as the case of bounded state and/ or control variables. The obtained results are then extended to the synthesis of robust state feedback controllers, where some of which are based on the S − procedure technique. Furthermore, some conditions of stability and stabilization of PLDS with delays are established. The problem of stabilization of constrained PLDS is addressed based on the Lyapunov techniques or the Linear Programming techniques. The robust H∞ state feedback control in which both robust stability and a prescribed H∞ performance are required is investigated
Olaru, Sorin. "La commande des systèmes dynamiques sous contraintes Interaction optimisation-géométrie-commande." Habilitation à diriger des recherches, Université Paris Sud - Paris XI, 2011. http://tel.archives-ouvertes.fr/tel-00641658.
Rubrecht, S. "Contributions à la commande de robots sous contraintes." Phd thesis, Université Pierre et Marie Curie - Paris VI, 2011. http://tel.archives-ouvertes.fr/tel-00654514.
Prodan, Ionela. "Commande sous contraintes de systèmes dynamiques multi-agents." Phd thesis, Supélec, 2012. http://tel.archives-ouvertes.fr/tel-00783221.
Amari, Saïd. "Commande des graphes d'événements temporisés sous contraintes temporelles." Nantes, 2005. http://www.theses.fr/2005NANT2110.
We consider a class of controlled timed event graphs subject to strict temporal constraints. Such a graph is deterministic. Its behavior only depends on the initial marking and on the control inputs that are applied. This behavior can be represented by a system of difference equations that are linear in the Min-Plus, or Max-Plus algebra. The temporal constraints are represented by inequations, that are also linear in the Min-Plus, or Max-Plus algebra. We propose a method for the synthesis of a control law ensuring the validity of the constraints. This control law is a causal retarded state feedback. It can effectively be calculated if two sufficient conditions are satisfied. All the methods are illustrated on the example of manufacturing system
Sleiman, Mohamad. "Commande sous contraintes et incertitudes des réseaux de transport." Thesis, Bourgogne Franche-Comté, 2018. http://www.theses.fr/2018UBFCA037/document.
Transport has always been one of the key components of urban life and its economic development. From the second half of the last century, the improvement in the average standard of living and the household equipment rate allowed the greatest number of people to access the journey by private vehicle. We therefore witnessed a race between the growth of road traffic and the quantitative and qualitative progress of roads. This quantity of actions generates problems with the fluidity of the traffic, hence the appearance of congestion.The congestion occurs today almost daily in road networks. It is source of waste of time, increase of the energy consumption, the nuisance and the deterioration of the environment. The solution to the problems of road congestion does not still pass by the increase of the investment in the infrastructures of transport. Indeed, the offer of grounds is exhausted and the development of the road infrastructure is expensive. Hence, the current trend is rather for a better use of the existing infrastructures. In particular, traffic lights play an important role in avoiding congestion. Indeed, the design of a better control of traffic lights has been the subject of several researches in order to improve the network circulation on a large scale.In this thesis, we are mainly interested in a work that prevents the congestion by forcing the number of vehicles to not exceed the lane capacities. After having described the network of intersections, we have realized a state of the art on the methods developed for the management and regulation of intersections. Next, we propose three control strategies that treat the control problem in different ways. The first one involves the theory of dissipative systems, the second one is to stabilize the system in the sense of Lyapunov around its nominal situation and the third one stabilizes it in finite time (during peak hours). These proposed controls respect the constraints on both state and control. In addition, they take into account the uncertainties in the system. Finally, the result of each strategy developed is presented by LMI in order to be solved by using the CVX tool under MATLAB. Besides, the performance of each control is evaluated by simulations
Chaumerliac, Vincent. "Commande multivariable d'un moteur à allumage commande : amélioration du rendement sous différentes contraintes." Toulouse, INSA, 1995. http://www.theses.fr/1996ISAT0024.
Allibert, Guillaume. "Commande prédictive visuelle : contributions à l’asservissement visuel 2D sous contraintes." Orléans, 2008. http://www.theses.fr/2008ORLE2056.
Pham, Thanh Hung. "Commande optimale sous contraintes pour micro-réseaux en courant continu." Thesis, Université Grenoble Alpes (ComUE), 2017. http://www.theses.fr/2017GREAT086/document.
The goals of this thesis is to propose modelling and control solutions for the optimal energy management of a DC microgrid under constraints. The studied microgrid system includes electrical storage units (e.g., batteries, supercapacitors), renewable sources (e.g., solar panels) and loads (e.g., an electro-mechanical elevator system). These interconnected components are linked to a three phase electrical grid through a DC bus and associated DC/AC converters. The optimal energy management is usually formulated as an optimal control problem which takes into account the system dynamics, cost, constraints and reference profiles.An optimal energy management for the microgrid is challenging with respect to classical control theories. Needless to say, a DC microgrid is a complex system due to its heterogeneity, distributed nature (both spatial and in sampling time), nonlinearity of dynamics, multi-physic characteristics, the presence of constraints and uncertainties. Moreover, the power-preserving structure and the energy conservation of a microgrid are essential for ensuring a reliable operation.This challenges are tackled through the combined use of port-Hamiltonian formulations, differential flatness, and economic Model Predictive Control.The Port-Hamiltonian formalism allows to explicitly describe the power-preserving structure and the energy conservation of the microgrid and to connect different components of different physical natures through the same formalism. The strongly non-linear system is then translated into a flat representation. Taking into account differential flatness properties, reference profiles are generated such that the dissipated energy and various physical constraints are taken into account. Lastly, we minimize the purchasing/selling electricity cost within the microgrid using the economic Model Predictive Control with the Port-Hamiltonian formalism on graphs.The proposed control designs are validated through simulation results
Machmoum, Souâd. "Commande sous-optimale de position d'un axe flexible." Vandoeuvre-les-Nancy, INPL, 1991. http://www.theses.fr/1991INPL057N.
We study the position control of a constrained flexible axis. The purpose is to carry our a minimum time displacement control. The study compares two approaches : the optimal control given by the resolution of Pontriagin’s equations and a linear quadratique control. The first approach gives a reference point against which other strategies can be compared, but its realization is unrealistic. It is shown that with an appropriate choice of the weithing matrix, we can obtain acceptable results, simpler to perform and with a closed loop structure. The conception is linear but the stability has been studied with the inherent non linearities of these systems. A sub optimal control system design method has been tested by simulation and implemented on an experimental model
Jamhour, Edgard. "Commande douce de systemes mecaniques : optimisation de trajectoires sous diverses contraintes." Besançon, 1994. http://www.theses.fr/1994BESA2044.
Bou, Farraa Berna. "Modélisation et commandes des systèmes à retards contraints sous incertitudes." Thesis, Nantes, 2020. http://www.theses.fr/2020NANT4007.
This thesis work focuses on the analytic study of the dynamics of logistic networks and elementary logistic systems, subject to production delays, storage losses due to perishable products, and positive and saturation constraints of the system’s resources. The aim is to adapt the production in order to satisfy the uncertain and bounded customers demand, without any risk of storage breakage or overflow, and taking into account the system specifications, in particular production and storage capacities. Based on Input-Output system formalization and the invariance properties, a first objective is to provide methods for bounds calculation, in order to identify the reachable output sets of the logistics network. A second objective is based on the study of new methods for the synthesis and the design of linear or saturated controls with feedback predictor type, in order to determine satisfying conditions of control laws existence for the elementary logistic system. A third aspect guiding this topic, is to take into account uncertainties on the intrinsic system parameters or additional disturbances, hence the introduction of new robust and reactive control techniques
MIGGE, JORN. "L'ordonnancement sous contraintes temps-reel : un modele a base de trajectoires." Nice, 1999. http://www.theses.fr/1999NICE5341.
Castelan, Eugenio B. "Sur l'invariance positive et la commande sous contraintes de systèmes linéaires multivariables." Toulouse 3, 1992. http://www.theses.fr/1992TOU30079.
Olaru, Sorin. "Contribution à l'étude de la commande prédictive sous contraintes par approche géométrique." Paris 11, 2005. http://www.theses.fr/2005PA112130.
This thesis is a contribution to the study of the predictive control under constraints essentially using a geometrical approach. The feasible domain resulting from a set of linear constraints is represented by a polyhedron. But, since the dynamics of the system to be controlled intervenes in the structure of the constraints, it results a parameterization of the optimization problem to be solved on line. The structure of the feasible region can then be analyzed through the concept of parameterized polyhedron. This characterization of the feasible domain initially enables to establish necessary and sufficient feasibility conditions for the predictive law, the relationships with the stability of the closed loop system being highlighted using the invariant set theory. Analysing the position of the unconstrained optimum with respect to the polyhedral feasible domain can lead to a partitioning of the parameters space, allowing the construction of an explicit formulation of the predictive law as well in the nominal case as for multiparametric optimizations constructed with robustness improvement purposes. The originality of the approach, related to this geometrical point of view, allows, beside the construction of explicit laws, the analysis of the redundancy phenomenon. It proposes a partition of the parameters space in regions corresponding to subsets of constraints locally nonredundant. All these results lead to off-line design procedures for the predictive laws such that their effective implementation may use techniques spread from on-line optimization to fully explicit piecewise laws evaluated by look-up table positioning mechanisms
Nguyen, Minh Tri. "Commande prédictive sous contraintes de sécurité pour des systèmes dynamiques Multi-Agents." Thesis, Université Paris-Saclay (ComUE), 2016. http://www.theses.fr/2016SACLC071/document.
This thesis presents optimizationbased control techniques for dynamical Multi-Agent systems (MAS) subject to collision avoidance constraints. From the set-theoretic point of view, collision avoidance objective can be translated into non-overlapping conditions for the safety regions characterizing each agent/obstacle while maintaining the convergence towards a specified formation. Among the successful optimizationbased control methods, Model Predictive Control (MPC) is used for constraints handling. First, a leader-follower structure is considered as a basic decentralized architecture. The followers functioning zone assignment is decided by the leader and then the local linear feedback control is computed such that the follower operates strictly inside its authorized zone, offering anti-collision guarantees. Second, a dynamic Voronoi partition based deployment of the agents using an inner target driver is developed. The main novelty is to consider the Chebyshev center as the inner target for each agent, leading to an optimization-based decentralized predictive control design. In the same topic, other inner targets are considered such as the center of mass or vertex interpolated center. Third, set-theoretic tools are used to design a centralized FDI layer for dynamical MAS, leading to the exclusion of a faulty agent from the MAS formation and the integration of an external healthy/recovered agent in the current formation. The set-based FDI allows detecting and isolating these faulty agents to protect the current formation using centralized predictive control techniques
Manrique, Espindola Dolly Tatiana. "Commande optimale d’une voiture électrique à faible consommation sous contraintes temps réel." Thesis, Université de Lorraine, 2014. http://www.theses.fr/2014LORR0198/document.
In the field of transportation, the research on energy efficiency has been carried out for few decades by the automotive industry, where one of the main objectives is to reduce the energetic consumption. This particular problem can be rephrased as how the vehicle must be driven so that the minimum quantity of energy is used. This is the optimal driving strategy. In this project, a suitable model of the Vir'volt electric vehicle involved in the European Shell Eco-Marathon is obtained. The unknown parameters involved in the vehicle dynamics are estimated using Parameter identification from experimental data. The identified dynamics is used to derive an optimal driving strategy that is intended to be tracked on-line during the driving task. The tracking task is subject to time-varying polytopic constraint on the input and/or the state. A MPC-based tracking strategy that uses an homothetic transformation as a suitable time-varying invariant set is used. The time-varying invariant set guarantees the asymptotic stability of the control law. The problem of the MPC tracking for Linear Parametric Varying (LPV) systems is introduced. A new explicit MPC strategy for LPV systems is developed. This strategy uses a Parameter dependent Lyapunov Function (PDLF) to involve explicitly the time-varying parameter in the control law and so it reduces conservatism. A benchmark is used to test the performances of the optimal driving strategy and the explicit MPC tracking strategy. Finally, a robust adaptive technique with on-line identification of the dynamics is has been proposed and tested in the race showing good performances of the adaptive driving strategy
Manrique, Espindola Dolly Tatiana. "Commande optimale d’une voiture électrique à faible consommation sous contraintes temps réel." Electronic Thesis or Diss., Université de Lorraine, 2014. http://www.theses.fr/2014LORR0198.
In the field of transportation, the research on energy efficiency has been carried out for few decades by the automotive industry, where one of the main objectives is to reduce the energetic consumption. This particular problem can be rephrased as how the vehicle must be driven so that the minimum quantity of energy is used. This is the optimal driving strategy. In this project, a suitable model of the Vir'volt electric vehicle involved in the European Shell Eco-Marathon is obtained. The unknown parameters involved in the vehicle dynamics are estimated using Parameter identification from experimental data. The identified dynamics is used to derive an optimal driving strategy that is intended to be tracked on-line during the driving task. The tracking task is subject to time-varying polytopic constraint on the input and/or the state. A MPC-based tracking strategy that uses an homothetic transformation as a suitable time-varying invariant set is used. The time-varying invariant set guarantees the asymptotic stability of the control law. The problem of the MPC tracking for Linear Parametric Varying (LPV) systems is introduced. A new explicit MPC strategy for LPV systems is developed. This strategy uses a Parameter dependent Lyapunov Function (PDLF) to involve explicitly the time-varying parameter in the control law and so it reduces conservatism. A benchmark is used to test the performances of the optimal driving strategy and the explicit MPC tracking strategy. Finally, a robust adaptive technique with on-line identification of the dynamics is has been proposed and tested in the race showing good performances of the adaptive driving strategy
Iqbal, Naeem. "Invariance sous contraintes et commande sous-optimale de grands procedes implicites par l'approche systeme dynamique hybride." Rennes 1, 1997. http://www.theses.fr/1997REN10176.
Briñon, Arranz Lara. "Commande coopérative d'une flottille de véhicules autonomes sous-marins avec contraints de communication." Phd thesis, Université de Grenoble, 2011. http://tel.archives-ouvertes.fr/tel-00700986.
Nguyen, Hoai Nam. "Commande sous contraintes pour des systèmes dynamiques incertains : une approache basée sur l'interpolation." Phd thesis, Supélec, 2012. http://tel.archives-ouvertes.fr/tel-00783829.
Chambon, Emmanuel. "Commande de systèmes linéaires sous contraintes fréquentielles et temporelles : Application au lanceur flexible." Thesis, Toulouse, ISAE, 2016. http://www.theses.fr/2016ESAE0031/document.
Ln control design problems, both frequency- and time-domain requirements are usually considered such that the resulting control law satisfies the specifications. Novel non-smooth optimization techniques can be used to achieve multiple frequency-domain specifications over a family of linear models. However, enforcing time-domain constraints on a given output or state is more challenging Since translating them into frequency-domain requirements may be inaccurate. This motivates the study of an additional approach to the Hinf control design techniques. When time-domain constraints are satisfied, the nominal control law reduces to a controller satisfying the frequency-domain constraints. Upon violation of the ime-domain constraint, an additional tool named OIST is used to saturate the controller output so as to restrict the reachable set of the constrained system output. Stability guarantees are obtained for minimum phase systems. Further developments proposed therein allow the consideration of uncertain systems With incomplete state measurements. This is he OISTeR approach. The method uses certified bounds on the considered system state as provided by an interval observer. he theory of interval observers is well-established. ln the case of linear systems, the most common approach is to consider an intermediate cooperative system on which the interval observer can be built. The novel SCorplO design method proposed in this work is used to compute such cooperative representation. ln this thesis, the considered application is the atmospheric control of a flexible launch vehicle under a time-domain constraint on the angle of attack and in the presence of wind gusts
Paoli, Josiane. "Contrôle optimal du champ rétrodiffusé et optimisation sous contraintes." Cachan, Ecole normale supérieure, 2001. http://www.theses.fr/2001DENS0012.
"In this thesis, the optimal command theory of J. L. Lions is applieds to observability, the object being to reduce the radar signature. A computer program has been developed to both resolve the problem of optimal control, and optimise, under constraints, this radar signature. The scattered wave is minimised using a control acting on a part of the boundary of the concerned object. A natural function to minimize is the radiation in a solid angle modulated by a cost function. The physical modelling of an electromagnetic problem and the management of scattering are described. A mathematical analysis of the Helmholtz equation is then discussed. The problems of control and observation are considered first in an external domain, and subsequently in a domain bounded on its external frontier by an absorbance limit condition. An equivalent of a radiation diagram is defined in thise bounded domain. First, the possibility of an exact control is considered. Then, an approximated control is constructed. Finally, an optimal control is studied. The subsequent section focuses on resolving the Helmholtz 2D equation using a finite element method. The convergence of the discrete solution is shown and an estimation of the error is provided. The algorithms of the given solution are discribed before moving to the application and illustrations. Then, the emphasis is placed on the numerical analysis of the optimal control problems. The first step is to define this problem and subsequently to describe the algorithm used for the optimal control. This description is, in fact, composed of the two methods used for the resolution. Finally, the numerical results are presented. Based on those results, the effects of the different input parameters are analysed. The robustness of the control is then studied based on the frequency and incidence angle. The problem of minimisation under constraints is resolved with the aid of an existing optimisation using the internal point method (IPA)"
Hermosilla, Cristopher. "Problèmes de commande optimale sur des domaines structurés et lois de commandes en boucles fermées stratifiées." Palaiseau, École nationale supérieure de techniques avancées, 2015. http://www.theses.fr/2015ESTA0011.
The aim of this dissertation is to study some issues in Control Theory of ordinary differential equations. Optimal control problems with tame state-constraints and feedback controls with stratified discontinuities are of special interest. The techniques employed along the manuscript have been chiefly taken from control theory, nonsmooth analysis, variational analysis, tame geometry, convex analysis and differential inclusions theory. The first part of the thesis is devoted to provide general results and definitions required for a good understanding of the entire manuscript. In particular, a strong invariance criterion adapted to manifolds is presented. Moreover, a short insight into manifolds and stratifications is done. The notions of relatively wedged sets is introduced and in addition, some of its properties are stated. The second part is concerned with the characterization of the Value Function of an optimal control problem with state-constraints. Three cases have been taken into account. The first one treats stratifiable state-constraints, that is, sets that can be decomposed into manifolds of different dimensions. The second case is focused on linear systems with convex state-constraints, and the last one considers convex state-constraints as well, but from a penalization point of view. In the latter situation, the dynamics are nonlinear and verify an absorbing property at the boundary. The third part is about discontinuous feedbacks laws whose singularities form a stratified set on the state-space. This type of controls yields to consider stratified discontinuous ordinary differential equations, which motivates an analysis of existence of solutions and robustness with respect to external perturbation for these equations. The construction of a suboptimal continuous feedback from an optimal one is also addressed in this part. The fourth part is dedicated to investigate optimal control problems on networks. The main feature of this contribution is that no controllability assumption around the junctions is imposed. The results can also be extended to generalized notions of networks, where the junction is not a single point but a manifold
Maignan, Simon. "Méthode du potentiel adaptée à la commande autonome d'un satellite sous contraintes dynamiques et directionnelles." Mémoire, Université de Sherbrooke, 2014. http://savoirs.usherbrooke.ca/handle/11143/162.
Aceves, Lopez Alejandro. "Nouvelle approche de la commande non linéaire sous contraintes à partir de la logique floue : le contrôleur logique naturel." Toulouse 3, 2000. http://www.theses.fr/2000TOU30139.
Boulet, Vlady. "Contribution à la détermination de points cibles de mobiles en déplacement sous contraintes." Lille 1, 1995. http://www.theses.fr/1995LIL10084.
Roy, Prateep Kumar. "Analyse et conception de la commande des systèmes embarqués distribués sous des contraintes de communication." Phd thesis, Université Paris-Est, 2009. http://tel.archives-ouvertes.fr/tel-00532883.
Stein, Shiromoto Humberto. "Stabilisation sous contraintes locales et globales." Phd thesis, Université de Grenoble, 2014. http://tel.archives-ouvertes.fr/tel-01023554.
Causse, Olivier. "Navigation sous contraintes : planification et contrôle d'exécution pour un robot mobile autonome." Phd thesis, Grenoble INPG, 1994. http://tel.archives-ouvertes.fr/tel-00344991.
Wanderoild-Morand, Yohan. "Enfouissement d’une alimentation isolée sous contraintes de température et d’isolation." Thesis, Lyon, 2018. http://www.theses.fr/2018LYSE1193/document.
High temperature applications such as deep drilling, aeronautics or aerospace, lead to rework the isolated power supplies used for the control of the power elements. This work study the feasibility of an embedded converter with high static (10kV) and dynamic (<10 pF) insulation, able to work under high temperatures (> 250 ° C), in the ranges of dozens volts for the output voltage and several Watt of transmitted power. To avoid being constrained by a magnetic material Curie temperature of, we use a coreless transformer based DC/DC power supply. First of all, this thesis details the origin, the measurement and the estimation of the elements of the chosen transformer electric model. Then, to maximize the transferred power, we form a resonant structure by adding capacitors in parallel or in series with the transformer, then we develop a method to tune the whole. The comparison between the topologies leads us to choose a serial-serial compensation. Then we note that the technology chosen for capacitors, the static and dynamic insulation constraint can divide by more than two the power transmitted through a surface. Finally, we discuss how to rectify and regulate the output voltage without affecting the resonance or insulation provided, while minimizing the losses generated. A last part exhibit that with a suitable dissipation system and manufacturing process, it is possible to integrate the complete structure on silicon chips
Le, Drezen Alain. "Contribution à la commande stochastique d'un robot redondant sous contraintes d'environnement : application à l'assistance aux handicapés physiques." Metz, 1995. http://docnum.univ-lorraine.fr/public/UPV-M/Theses/1995/Le_Drezen.Alain.SMZ9538.pdf.
The work described in this thesis relates to the development of a manipulator mounted on an electric wheelchair. This document presents the different aspects studied during the achievement of teletheses, and more broadly during the achievement of cooperative robots. Avery special care is brought to problems relating to the operator's safety. This problem is divided into two sub-problems : the overahh reliability of the system and the collision avoidance. From this last point a new approach to collision avoidances is proposed/ "the randomized generation of trajectory in real time with restraining environment", which allows the operator to work in a non structured world. This method gives satisfaying results with some reservations and is compatible with an on line generation of trajectories
Trelea, Cristian. "Contribution à la commande prédictive optimale sous contraintes des procédés discontinus non linéaires utilisés dans l'industrie alimentaire." Massy, ENSIA, 2002. http://www.theses.fr/1997EIAA0066.
LE, DREZEN ALAIN LAURENT C. "CONTRIBUTION A LA COMMANDE STOCHASTIQUE D'UN ROBOT REDONDANT SOUS CONTRAINTES D'ENVIRONNEMENT. APPLICATION A L'ASSISTANCE AUX HANDICAPES PHYSIQUES /." [S.l.] : [s.n.], 1995. ftp://ftp.scd.univ-metz.fr/pub/Theses/1995/Le_Drezen.Alain.SMZ9538.pdf.
TRABUCO, DOREA Carlos Eduardo. "Sur l'(A,B)-invariance de polyèdres convexes ; application à la commande sous contraintes et au problème l1." Phd thesis, Université Paul Sabatier - Toulouse III, 1997. http://tel.archives-ouvertes.fr/tel-00010088.