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Rozprawy doktorskie na temat "Systèmes LPV/quasi-LPV"
Jaadari, Abdelhafidh. "Systèmes quasi-LPV continus : comment dépasser le cadre du quadratique ?" Phd thesis, Université de Valenciennes et du Hainaut-Cambresis, 2013. http://tel.archives-ouvertes.fr/tel-00865634.
Pełny tekst źródłaAbouselima, Eslam. "Fault tolerant control and path planning for quasi-LPV systems : application to quadrotor". Electronic Thesis or Diss., université Paris-Saclay, 2022. http://www.theses.fr/2022UPAST085.
Pełny tekst źródłaRecently, autonomous systems are getting increasingly popular and are widely deployed in several applications in our daily life. That's why a great concern has been dedicated to the problem of autonomous systems fault-tolerant control (FTC). Evidently, the UAVs are among the systems that are in need of such FTC algorithms because any system malfunction can cause severe damage not just for the vehicle itself but for the surrounding environment as well. So this work is investigating the problem of designing an FTC algorithm for a quadrotor aiming to be a worthy contribution to the evolution of UAVs safety and reliability. Such a problem is tackled through some fundamental steps beginning with establishing a trustful model for the system representing the physical dynamics accurately. So Newton-Euler formulation is used for modeling the quadrotor resulting in a mathematical model that describes the relationship between the applied forces and the system states. After that the nonlinear model is linearized around the hovering point to simplify the control law design. A precise model could be constructed in an LPV framework where the nonlinear terms are considered as linearly time-varying within the given parameter limits. The deduced model is then used to build a controller that stabilizes the quadrotor and guarantees adequate trajectory tracking. So different types of control law are presented and analyzed some of them are linear controllers like PID provided with loop shaping technique. Other types of controllers presented are LQG to handle the system whose measurements are affected by Gaussian white noise and robust LPV control based on the H_inf technique to overcome unknown exogenous disturbances and measurement noise. In order to provide the quadrotor with an efficient FTC scheme, first, a fault detection and diagnosis (FDD) unit is proposed to identify the type, amount, and location of the existent fault. The FDD unit contains a model-based observer that generates some residual signals indicating the fault occurrence. According to the observer design, it may give just fault detection with a bank of observers for fault isolation or it can perform fault detection, estimation, and identification simultaneously. So an observer is designed based on H_/ H_inf technique aiming at maximizing the fault to residual sensitivity by using the H_ index properties, and minimizing the H_inf norm for worst-case exogenous signals attenuation. Afterward, a new approach is proposed for observer design based on an auxiliary output containing the system output and its successive time derivatives. This approach is used for both actuators and sensors fault diagnosis including fault detection, estimation, and isolation. It is illustrated that under some structural conditions, the faults can be estimated exactly while the perturbations are completely decoupled from the residual signals. However, if exact convergence is not ensured, some relaxed conditions are provided to maintain asymptotic fault estimation. Finally, the worst-case where the perturbations cannot be decoupled is presented and handled using H_/H_inf approach which is further enhanced utilizing the auxiliary output. Upon the obtained results from the actuator FDD unit, an active fault-tolerant control law is designed. After fault evaluation, the FDD gives a decision for the controller reconfiguration unit whether the actuator damage can be contained or not. For the first case, a control law is proposed aiming at fault compensation and precise trajectory tracking in the presence of system malfunction. For the latter case, a fail-safe mode is used to ensure that the quadrotor can land safely without crashing or causing harm to the surrounding environment
Bui-Tuan, Viet Long. "Stability and stabilization of linear parameter-varying and time-varying delay systems with actuators saturation". Electronic Thesis or Diss., Amiens, 2022. http://www.theses.fr/2022AMIE0082.
Pełny tekst źródłaThe dissertation is devoted to developing a methodology of stability and stabilization for the linear parameter-dependent (PD) and time-delay systems (TDSs) subject to control saturation. In the industrial process, control signal magnitude is usually bounded by the safety constraints, the physical cycle limits, and so on. For this reason, a suitable synthesis and analysis tool is needed to accurately describe the characteristics of the saturated linear parameter-varying (LPV) systems. In the part one, a parameter-dependent form of the generalized sector condition (GSC) is considered to solve the saturated stabilization problem. Several feedback control strategies are investigated to stabilize the saturated LPV/qLPV systems. Necessary and sufficient stabilization conditions via the parameterized linear matrix inequality (PLMI) formulation proposed for the feedback controllers conforming to the design requirements (i.e., the admissible set of the initial conditions, the estimated region of the asymptotic convergence domain, the robust stability and performance with the influence of perturbations, Etc.). The relaxation of the designed PLMIs is shown through the comparison results using a parameter-dependent Lyapunov function (PDLF). In the second part, the delay-dependent stability developments based on Lyapunov-Krasovskii functional (LKF) are presented. The modern advanced bounding techniques are utilized with a balance between conservatism and computational complexity. Then, saturation stabilization analyzes for the gain-scheduling controllers. Inspired by uncertain delay system methods, a novel stabilization condition is derived from the delay-dependent stabilizing analysis for the LPV time-delay system subject to saturation constraints. In this aspect, the stabilizing gain-scheduling feedback controllers improve the performance and stability of the saturated system and provide a large attraction domain. It can be emphasized that the derived formulation is general and can be used for the design control of many dynamic systems. Finally, to maximize the attraction region while guaranteeing the asymptotic stability of the closed-loop system, an optimization problem is included to the proposed control design strategy
Laurain, Thomas. "Synthèse de contrôleurs avancés pour les systèmes quasi-LPV appliqués au contrôle de moteurs automobiles". Thesis, Valenciennes, 2017. http://www.theses.fr/2017VALE0033/document.
Pełny tekst źródłaMy PhD in Automatic Control is part of the research theme “Transport” of the LAMIH. The objective is to improve the functioning of the gasoline engines, mainly by reducing the fuel consumption and the pollution. With this ecologic and economic challenge, and taking into account the new norms and the short-term strategies of the industry (scandal of Volkswagen...), new controllers have to be designed to control the air valve and the fuel injection inside the engine. Considering the highly nonlinear aspect of the system, the Takagi-Sugeno representation and the theoretical background of the LAMIH have been used. A first controller is designed to solve the problem of idle engine speed. However, the complexity of the system forces the use of a controller that is very costly from a computational point of view. An alternative controller is then designed in order to be implemented inside the embedded computer of the engine. A second controller is obtained to maintain the air-fuel ratio in stoichiometric proportions in order to reduce the pollution. This system being subject to a variable transport delay, a change of domain is realized to make this delay constant, and to design a simple and efficient controller. Real-time experiments have been realized on the engine test bench of the LAMIH in order to validate the presented methodology
Pita, Guillermo. "Application de techniques de commande avancées dans le domaine automobile". Thesis, Supélec, 2011. http://www.theses.fr/2011SUPL0002/document.
Pełny tekst źródłaThe work achieved in this PhD thesis is dedicated to applications of advanced control methodologies to problems currently faced in the automotive field. Three main areas of investigation were successively considered, using advanced techniques such as H infinity LTI and q-LPV design procedures, dynamic feedback linearization, retuning of controllers, in particular PI-type, and optimization of filters required by the H infinity design procedure:• Trajectory control of automotive vehicle. A control structure has been proposed which is based on the procedure classically developed in the aeronautics field.• Robust nonlinear control of the air path of an internal combustion engine. An innovative q-LPV formulation of the motor has been proposed, which has enabled design of advanced controllers with varying parameters. These parameters are automatically updated according to the operating point.• Optimal control laws for brakes’s torque blending on electrical vehicle. Motivation and interest for electrical vehicle has been first detailed, then potential gain in autonomy due to regenerative braking has been studied. Finally, solutions which reduce oscillations in the power train chain induced by torque demand to the electrical machine during braking phases has been developed
Pita, Gil Guillermo. "Application de techniques de commande avancées dans le domaine automobile". Phd thesis, Supélec, 2011. http://tel.archives-ouvertes.fr/tel-00591522.
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