Thèses sur le sujet « Commande automatique – Systèmes adaptatifs »
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Benhammou, Ahmed. « Contribution à l'étude de la commande adaptative décentralisée des systèmes interconnectés ». Toulouse 3, 1988. http://www.theses.fr/1988TOU30229.
Texte intégralLe, Lann Marie-Véronique. « Commande prédictive et commande par apprentissage : étude d'une unité pilote d'extraction, optimisation par apprentissage ». Toulouse, INPT, 1988. http://www.theses.fr/1988INPT023G.
Texte intégralCastelan, Eugenio B. « Sur l'invariance positive et la commande sous contraintes de systèmes linéaires multivariables ». Toulouse 3, 1992. http://www.theses.fr/1992TOU30079.
Texte intégralConti, Patricia. « Contribution à la commande dynamique-adaptative des robots manipulateurs ». Toulouse 3, 1987. http://www.theses.fr/1987TOU30220.
Texte intégralChen, Jian-ping. « Sur la commande adaptative décentralisée ». Toulouse, INSA, 1986. http://www.theses.fr/1986ISAT0036.
Texte intégralCauvin, Aline. « Etude de la répartition de l'intelligence dans un système de commande décentralisé : application à la commande décentralisée de robots ». Aix-Marseille 3, 1991. http://www.theses.fr/1991AIX30075.
Texte intégralGarnero, Marie-Agnès. « Commande adaptative à petit pas de temps : Théorie et application sur un four électrique ». Ecully, Ecole centrale de Lyon, 1990. http://www.theses.fr/1990ECDL0030.
Texte intégralAsep, Rahmat. « Commande prédictive multidimensionnelle : application à la poursuite de trajectoire avion ». Toulouse 3, 1996. http://www.theses.fr/1996TOU30176.
Texte intégralNagoudi-Layerle, Khaoula. « Application de la commande prédictive reconfigurable sur le circuit d'air du moteur Diesel ». Rouen, 2011. http://www.theses.fr/2011ROUES049.
Texte intégralRoux, Gilles. « Contribution à l'élaboration d'algorithme de commande adaptative pour la conduite de procédés fermentaires ». Toulouse 3, 1992. http://www.theses.fr/1992TOU30248.
Texte intégralRonceray, Lilian. « Méthodologies de réglage automatique temps-réel de lois de pilotage ». Phd thesis, Toulouse, ISAE, 2009. http://tel.archives-ouvertes.fr/tel-00430820.
Texte intégralCellier, Lise. « Analyse expérimentale de schémas de commande position/force d'un manipulateur monté sur un véhicule ». Montpellier 2, 1996. http://www.theses.fr/1996MON20164.
Texte intégralMaatoug, Tarak. « Synthèse d'observateurs adaptatifs pour les systèmes non linéaires ». Phd thesis, Université de Caen, 2009. http://tel.archives-ouvertes.fr/tel-01058802.
Texte intégralGaudy, Anne-Marie. « Conduite automatique et simulation d'un réacteur discontinu de développement industriel à système de chauffage-refroidissement par monofluide ». Toulouse, INPT, 1992. http://www.theses.fr/1992INPT034G.
Texte intégralDib, Abdou. « Observation et Commande de la Machine Asynchrone ». Phd thesis, Université de Caen, 2012. http://tel.archives-ouvertes.fr/tel-01064016.
Texte intégralZhang, Hongbing. « L'application de la commande adaptative à certaines classes de systèmes non linéaires ». Paris 12, 1993. http://www.theses.fr/1993PA120027.
Texte intégralFerrarini, Alain. « Contribution à l'étude et à la mise en oeuvre de la décentralisation de la décision pour la commande de systèmes flexibles de fabrication ». Aix-Marseille 3, 1994. http://www.theses.fr/1994AIX30066.
Texte intégralUhlemann, Jens. « Optimisation et conduite automatique d'un réacteur discontinu-application à la synthèse du 2-furyl oxirane ». Toulouse, INPT, 1992. http://www.theses.fr/1992INPT070G.
Texte intégralDumont, Pierre-Emmanuel. « Tolérance active aux fautes des systèmes d'instrumentation ». Lille 1, 2006. https://pepite-depot.univ-lille.fr/LIBRE/Th_Num/2006/50376-2006-Dumont.pdf.
Texte intégralJarupintusophon, Pongsak. « Conduite automatique de réacteurs semi-continus à l'aide d'un algorithme de commande prédictive et adaptative intégrant un modèle de connaissance ». Toulouse, INPT, 1992. http://www.theses.fr/1992INPT039G.
Texte intégralBen, Youssef Chérif. « Filtrage, estimation et commande adaptative d'un procédé de traitement des eaux usées ». Toulouse, INPT, 1996. http://www.theses.fr/1996INPT014H.
Texte intégralBertrand, Sylvain. « Commande de drone miniature à voilure tournante ». Phd thesis, Université Nice Sophia Antipolis, 2007. http://tel.archives-ouvertes.fr/tel-00702441.
Texte intégralMboup, Alioune Badara. « Commande d'un système de production d'énergie électrique multi-sources : application aux sites isolés ». Le Havre, 2011. http://www.theses.fr/2011LEHA0022.
Texte intégralThis thesis concerning integration and control of renewable energy sources in systems of power generation and energy storage. The hybrid system studied consists of a wind generator, a diesel generator, photovoltaic panels and lead acid batteries for supplying continuous loads. All these sources are interfaced with the power electronics in aims to maintain the DC bus voltage to a reference value for supplying correctly the load demand. In this study we have done the model of the multisource system by using a hybrid nonlinear state space representation that uses discrete and continuous variables. Discrete variables are the contacts used to connect power converters on the DC bus. Continuous variables represent voltage and current to satisfy the load. We then developed a hierarchical control strategy which is used to regulate the voltage of the DC bus, to adjust the power rate extracted from the sources and to connect or disconnect the converter associated with sources according to criteria of energy availability. The control laws of power converters and the energy transfer management methods are developed from a study of the technological characteristics of different components of the system on one hand and information of the duty cycle value on the other. The duty cycle is a correlation measure between the source and the load. Its variations depend on the power extracted of the source. We showed that it was a priority decision variable in optimization energy of multi-source systems and operations can reduce the necessary instrumentation to control the installation. Following the methodological work, we are realized the power electronic converters and the acquiring system (and measuring). We are also validated our approach with experimental results that show the effectiveness of the strategy proposed for the energy management and the control of power converters
Alzoni, Yarub. « Conception et réalisation d'un régulateur auto-adaptatif industrialisable ». Nancy 1, 1989. http://www.theses.fr/1989NAN10269.
Texte intégralBouadi, Hakim. « Contribution to flight control law design and aircraft trajectory tracking ». Thesis, Toulouse, INSA, 2013. http://www.theses.fr/2013ISAT0001/document.
Texte intégralSafety and environmental considerations in air transportation urge today for the development of new guidance systems with improved accuracy for spatial and temporal trajectory tracking.The main objectives of this thesis dissertation is to contribute to the synthesis of a new generation of nonlinear guidance control laws for transportation aircraft presenting enhanced trajectory tracking performances and to explore the feasibility and performances of a flight guidance system developed within a space-indexed reference with the aim of reducing tracking errors and ensuring the satisfaction of overfly time constraints as well as final arrival time constraint. Before presenting the main approaches for the design of control laws for autopilots and auto-guidance systems devoted to transport aircraft and the way current Flight Management Systems generates guidance directives, flight dynamics of transportation aircraft, including explicitly the wind components, are presented. Then, the interest for adaptive flight control is discussed and a self contained adaptive flight path tracking control for various flight conditions taking into account automatically the possible aerodynamic and thrust parametric changes is proposed. Then, the main recognized nonlinear control approaches suitable for trajectory tracking are analyzed. Finally an original vertical space-indexed guidance control law devoted to aircraft trajectory tracking is developed and compared with the classical time-indexed approach
Pralx, Laurent. « Commande linéaire adaptative : solutions bornées et leurs propriétés ». Paris 9, 1988. https://portail.bu.dauphine.fr/fileviewer/index.php?doc=1988PA090035.
Texte intégralAntoinette, Patrice Luc. « Techniques de robustesse et d'auto-séquencement pour la commande auto-adaptative des aéronefs ». Thesis, Toulouse, ISAE, 2012. http://www.theses.fr/2012ESAE0018/document.
Texte intégralMany linear methods exist to design a robust controller for an uncertain linear system. This thesis considered the situation where the range of possible values of parameters is "very large" in relation to "small" variations in the desired level of performance. Frequently, an increase in robustness is obtained at the expense of a performance loss. The use of scheduled controllers may be an innovative way to address this problem. The implementation of this solution requires the controller has at its disposal the parameters on which the scheduling is done. However, it may occur that making the measure of the parameters available is not desired (for example, because of practical implementation aspects) or not possible. In these situations, the designer of the controller is led to estimate these parameters and then to use the paradigm of adaptive control. This thesis explored a methodology for designing an adaptive controller in which to solve the problem of robust control for an uncertain linear plant. A theoretical study was first undertaken which aimed to propose such a methodology; followed by, a study of the case of an unstable airplane as an application. Such an analysis highlighted the benefits that the proposed strategy can bring to the control for an uncertain plant
Chamroo, Afzal. « Contribution à l'étude des Systèmes à Fonctionnement par Morceaux : Application à l'Identification en Ligne et à la commande en Temps Réel ». Phd thesis, Université des Sciences et Technologie de Lille - Lille I, 2006. http://tel.archives-ouvertes.fr/tel-00374158.
Texte intégralKetata, Raouf. « Méthodologies de régulation numérique incluant la logique floue ». Toulouse, INSA, 1992. http://www.theses.fr/1992ISAT0025.
Texte intégralKermorgant, Olivier. « Fusion d'informations multi-capteurs en asservissement visuel ». Phd thesis, Université Rennes 1, 2011. http://tel.archives-ouvertes.fr/tel-00747052.
Texte intégralChaffre, Thomas. « Reinforcement learning and sim-to-real transfer for adaptive control of AUV ». Electronic Thesis or Diss., Brest, École nationale supérieure de techniques avancées Bretagne, 2022. http://www.theses.fr/2022ENTA0010.
Texte intégralAutopilots for unmanned systems are usually designed based on the feedback provided by velocity and orientation sensors. In the case of autopilot systems for autonomous underwater vehicles (AUVs), the main objective in the design is to compensate for waves and current-induced disturbing forces acting on their body. Existing AUV autopilots are however only able to compensate for low-frequency components of sea-induced disturbances. It seems natural to assume that the AUV performance could be improved by taking the nature of the disturbances into account in the design of the autopilot. Adaptive control provides what seems to be an ideal framework for this end. The objective of this technique is to adjust automatically the control parameters when facing unknown or time-varying processes such that the desired performance threshold is met. Developed in the late 1950s, adaptive control frameworks have been considerably expanded and used in various fields, their application has been facilitated by the rapid progress in microelectronics and the increasing interaction between laboratories and companies, from aerospace to maritime industries. As a result, adaptive controllers started to be widely adopted in the industry in the early 1980s. It was established at that time that robust designs with fixed parameters are too limited to handle complex regimes. The study of adaptive controllers for AUV maneuvering is associated with various challenges, and the focus of this thesis was the external disturbances including: - Unknown dynamics: the uncertainty associated with describing precisely the states of waves or currents is high. This, together with its dynamic nature, prevents linear feedback control methods from achieving optimal performance of the plant. This becomes more critical in the presence of changes in weather conditions that impose a multiplicative factor in the component of the induced forces. The disturbance period will also vary with the speed of the vehicle and its orientation relative to the waves; - Nonlinearity: the controller response at some operating points must be overly conservative to satisfy the specification at other operating points. This is difficult to achieve for fixed parameters obtained through local linearization, that do not encompass the entire regime envelope. In this thesis, we considered the case where the AUVs have limited observability of the process and therefore the aforementioned uncertainties are not measured by the system. A class of adaptive control methods, known as learning-based adaptive controllers, have been developed to tackle some of these limitations. This family of solutions uses model-free optimization methods capable of compensating for the unknown part of a process while also maintaining optimal control of its known part using traditional model-based control structures. Among the various model-free methods, deep reinforcement learning is currently leading the field. They exploit strong statistical tools that provide control systems the ability to automatically learn and improve from experience without being explicitly told how to. The objective of this thesis was to formalize a novel learning-based adaptive control using deep reinforcement learning and adaptive pole-placement control. In addition, we proposed a novel experience replay mechanism that takes into account the characteristic of the biological replay mechanism. The methods were validated in simulation and in real life, demonstrating the benefits of combining both theories against using them separately
Duong, Tan Quang. « Commande à gains variables de l’erreur de contour pour l’usinage multiaxes ». Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLC009/document.
Texte intégralThe advanced machining techniques are always the backbone of the manufacturing industries. Among such techniques, high speed machining is the main subject of this PhD thesis. Indeed, the main objective of this work is to improve the contouring accuracy in multi-axis high speed machining of free-form surfaces, directly acting inside the axis control loops. To do that, a first step aims at elaborating a strategy to estimate as accurately as possible the contour error for different tool configurations. This contour error is then minimized by means of an off-line adaptation for a given profile of the proportional and feedforward gains of the axis position loop controllers. This gain adaptation is performed via an optimization algorithm that considers a nonlinear model of the machine behaviour, in particular including friction related to each axis. This optimization leading to the controllers gains takes into account several constraints, including the axis kinematic (velocity, acceleration and jerk) limitations, the stability of the controlled loops and the motor current limits. Finally, to help their integration within an industrial framework, the developed strategies can be directly implemented in commercial CNC, by exploiting all possibilities of the classical control structure of axis drive
Py, Frédéric. « Contrôle d'exécution dans une architecture hiérarchisée pour systèmes autonomes ». Toulouse 3, 2005. http://www.theses.fr/2005TOU30199.
Texte intégralThere is an increasing need for advanced autonomy in complex embedded real-time systems such as robots or satellites. Still, this raises a major problem : on one side we have complex sys-tems - therefore, hard to validate - with little human intervention, on the other side these systems are used in domains where safety is critical. How can we guaranty that an autonomous system, with high level decisional capabilities, will exhibit a proper behavior and will not jeopardize the mission? The work we present here integrate an on-line execution control component for hierar-chical architectures. We first describe the role of this program. Then we introduce the R2C, our controller based on synchronous hypothesis, and the tool used to generate it. We then discuss why it is important to take into account the decisional components in our controller. We eventu-ally illustrate our contribution with some experimental results. We then conclude and give some possible future work in this area
Benhidjeb, Ali. « Contribution à l'étude de la commande d'un système de type pont roulant : comparaison expérimentale des méthodes analytiques et floues ». Mulhouse, 1995. http://www.theses.fr/1995MULH0370.
Texte intégralAmeho, Yann. « Du pilotage d'une famille de drones à celui d'un drone hybride via la commande adaptative ». Thesis, Toulouse, ISAE, 2013. http://www.theses.fr/2013ESAE0031/document.
Texte intégralMicro Air Vehicle are pilotless aircrafts with dimensions not exceeding one meter and a maximum weight of two kilograms. They are different from classical aircrafts for multiple reasons: a shorter development cycle, a cheaper development, their ease of operation and specific vehicle configurations. All these points expect a specific answer in the development of the control laws of the vehicles. This thesis considers this topic through two particular issues: the control of a family of quadrotors and the control of hybrid micro air vehicle. A family of quadrotor represents a single concept of vehicle but with various sizes, payloads and payload configurations. Control laws must guarantee the same level of performance despite all these modifications. A hybrid micro air vehicle is able to both hover like a helicopter and fly forward like a plane. These two flight modes have specific flight dynamics that the control laws must adapt to. This thesis first presents a model of quadrotors and hybrid micro air vehicle and then details an indirect adaptive control method to tackle both issues. Adaptive control should guarantee performance of multiple controlled systems with a single controller. The parameter estimation and linear parameter varying synthesis method of the adaptive control scheme are described and finally flight test results show the contributions and limits of the approach
Hashemi, Nejad Hossein. « Synthèse intégrée du diagnostic de systèmes contrôlés en réseaux avec contraintes de communication ». Phd thesis, Université Henri Poincaré - Nancy I, 2011. http://tel.archives-ouvertes.fr/tel-00634526.
Texte intégralDi, Martino Marc. « Commande optimale prédictive et commande adaptative : application à la commande d'un télépointeur ». Nice, 1985. http://www.theses.fr/1985NICE4062.
Texte intégralMaghenem, Mohamed Adlene. « Stability and Stabilization of Networked Systems ». Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLS186/document.
Texte intégralIn this thesis, we propose a Lyapunov based approaches to address some distributedsolutions to multi-agent coordination problems, more precisely, we consider a groupof agents modeled as nonholonomic mobile robots, we provide a distributed controllaws in order to solve the leader-follower and the leaderless consensus problems under different assumptions on the communication graph topology and on the leader’strajectories. The originality of this work relies on the closed-loop analysis approach, that is, it consists on transforming the last two problems into a global stabilization problem of an invariant set. The stability analysis is mainly based on the construction of strict Lyapunov functions and strict Lyapunov-Krasovskii functionals for a classes of nonlinear time-varying and/or delayed systems
Luzi, Alexandru. « Commande variant dans le temps pour le contrôle d'attitude de satellites ». Thesis, Toulouse, ISAE, 2014. http://www.theses.fr/2014ESAE0006/document.
Texte intégralThis manuscript considers time varying control, with a strong emphasis on a satellite attitude control application. Three types of control structures have been studied: a switch-based approach, LPV control and direct adaptive control. In this last field we have introduced new theoretical results which allow structuring the gain and the adaptation law. The results have been validated in simulation and are currently tested on board a satellite. Starting from the switch-based control law currently implemented on the Myriade satellites, a first part of our work isdedicated to LPV control. Based on the specification of the control objectives by using of an LPV reference model, our approach allows obtaining new control algorithms expressed within this framework. The simulations carried out with theLPV algorithms obtained by using this method show that they meet the needs of our application. Nonetheless, the choice of a reference model proves to be difficult. This obstacle has been surpassed by using direct adaptive control. In this approach, specifications regarding the timevarying behaviour are added through constraints on the laws defining the control gains adaptation. We thus introduce anew synthesis method, based on which structured adaptive control laws are obtained. Stability proofs are established based on tools of the Lyapunov theory.The results obtained on a complete simulator show the interest of using such adaptive algorithms, which allow in particular to modify the satellite dynamics depending on the available capacity of the actuators. Based on these positive results, a fight-test campaign on the PICARD satellite is underway
Jain, Tushar. « Contribution à la synthèse de commandes tolérantes aux défauts par l'approche comportementale ». Phd thesis, Université de Lorraine, 2012. http://tel.archives-ouvertes.fr/tel-00767015.
Texte intégralHamada, Abdelmalek. « Commande adaptative insensible à la complexité de la tension d'un groupe turbo-alternateur ». Vandoeuvre-les-Nancy, INPL, 1990. http://www.theses.fr/1990INPL044N.
Texte intégralELSERAFI, KAMEL AHMED. « Contributions a la commande adaptative des robots manipulateurs ». Nantes, 1991. http://www.theses.fr/1991NANT2014.
Texte intégralDiracca, Charles. « Étude comparative de P. I. D. Numériques auto-ajustables : application à la commande d'un télépointeur ». Nice, 1986. http://www.theses.fr/1986NICE4002.
Texte intégralFadel, Maurice. « Lois de commande d'une machine synchrone associée à un ondulateur de tension M. L. I. : commande modale avec observateur de flux : commande auto-adaptative ». Toulouse, INPT, 1988. http://www.theses.fr/1988INPT054H.
Texte intégralIkhouane, Fayçal. « Commande adaptative non-linéaire. : Synthèse Robuste et Analyse Transitoire ». Caen, 2001. http://www.theses.fr/2001CAEN2043.
Texte intégralChriette, Abdelhamid. « Contribution à la commande et à la modélisation des hélicoptères : asservissement visuel et commande adaptative ». Evry-Val d'Essonne, 2001. http://www.theses.fr/2001EVRY0013.
Texte intégralClaquin, Sandrine. « Contribution à la commande d'un procédé thermique ». Paris 12, 1994. http://www.theses.fr/1995PA120007.
Texte intégralMontano, Duran Alejandro Julián. « Sur la commande adaptative des systèmes non linéaires en temps discret ». Grenoble INPG, 1989. http://www.theses.fr/1989INPG0030.
Texte intégralFonte, Christophe. « Une nouvelle régulation pour les processus industriels : la commande adaptative à multiples modèles de référence ». Lille 1, 1986. http://www.theses.fr/1986LIL10102.
Texte intégralTjokronegoro, Harijono Abidin. « Estimation adaptative des paramètres de systèmes variant dans le temps et détection de ruptures ». Grenoble INPG, 1990. http://www.theses.fr/1990INPG0145.
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