Дисертації з теми "Commande robuste H2/H∞"
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Achnib, Asma. "Développement de la commande CRONE avec effet anticipatif robuste." Thesis, Bordeaux, 2019. http://www.theses.fr/2019BORD0056/document.
The work presented in this thesis is part of the study of the effectiveness of CRONE control with anticipative effect in the problems of tracking and control for monovariable and multivariable systems. The anticipation objective is to design a control algorithm that minimizes a quadratic error between the reference and the output of the system and at the same time achieve a good level of the control signal. The proposed solution combines a robust feedback control with a feedforward control. The feedforward action uses optimality criteria and an anticipative filter which is designed in the frequency domain using a mix of $mathcal{H}_2$ et $mathcal{H}_infty$ constraints. The reduction of the number of parameters of the anticipative filter by using a slower sampling period for the anticipative filter is treated. Academic examples highlight the theoretical developments. A practical application on a hydraulic control system has shown the efficiency of the developed approach
Feng, Yu. "Commande H2 - H∞ non standard des systèmes implicites." Phd thesis, Ecole des Mines de Nantes, 2011. http://tel.archives-ouvertes.fr/tel-00678501.
Legrand, Romain. "Suivi de trajectoire autonome et robuste en milieu agricole." Electronic Thesis or Diss., Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2022. http://www.theses.fr/2022IMTA0330.
The automation of off-road vehicles has become nowadays a strategic line of research given the recent and profound mutations of agricultural practices. This thesis deals with the conception of two independent controllers of an off-road vehicle, regulating both longitudinal and lateral dynamics. The first regulator aims to minimize the deviations with respect to a reference path by controlling the steering angles. It relies on anextended bicycle model that accounts for the slopes and load transfers. The H2/H∞ multi-objective synthesis allows the consideration of large model uncertainties. The adaptability of this controller is enhanced by the feedback/feedforward architecture which ensures the global robustness of the regulator. The second controller regulates the longitudinal dynamics of the vehicle. It lies on model predictive control. Anti-slip and anti-rollover constraints are explicitly defined during the synthesis of the regulator to ensure the stability of the off-road vehicle operating on slippery sloping grounds. The designed controllers have been tested on a realistic simulator which takes account of great load transfers within the vehicle, which are common in agricultural context. Both controllers have demonstrated satisfactory performances while exploring a variety of slopes and speeds
Mustaki, Simon Éliakim. "Outils de pré-calibration numérique des lois de commande de systèmes de systèmes : application aux aides à la conduite et au véhicule autonome." Thesis, Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2019. http://www.theses.fr/2019IMTA0142/document.
This thesis deals with the tuning of the new Advanced Driving Assistance Systems (ADAS). The development of these systems has become nowadays a strategic line of research for the automotive industry towards the conception of safer and fuel-efficient vehicles.This thesis contributes to a multi-criterion, multi-modeland multi-scenario methodological vision of the tuning process. It is presented through a specific application of the tuning of the Lane Centering Assistance (LCA). It relies on vehicle and environment’s dynamical models of adequate complexity in the aim of formalizing and managing, in a H2/H∞ framework, the trade-off between performance, comfort and robustness. The formulated criteria are easy to compute and defined in a way to be understandable, closely linked to practical specifications. The whole methodology is driven by the research of a pertinent trade-off between realism (being as closest as possible to reality) and complexity (quick evaluation of the criterion). The efficiency and the robustness of the approach is demonstrated through high-fidelity simulations and numerous tests on real vehicles
Labit, Yann. "Contribution à la commande non linéaire par des approches linéaires." Phd thesis, INSA de Toulouse, 2002. http://tel.archives-ouvertes.fr/tel-00131792.
Gallet, Alain. "Isolation vibratoire par commande robuste H "infini"." Aix-Marseille 1, 1996. http://www.theses.fr/1996AIX11022.
Blanco, Éric. "Lissage robuste et déconvolution." Lyon 1, 2002. http://www.theses.fr/2002LYO10165.
Samblancat, Christiane. "Commande robuste multivariable : applications à l'hélicoptère." Toulouse, ENSAE, 1991. http://www.theses.fr/1991ESAE0014.
Duval, Cédric Arnaud Henri. "Commande robuste des machines asynchrones." Ecully, Ecole centrale de Lyon, 2002. http://www.theses.fr/2002ECDL0032.
Deals with the robust control to parametric uncertainties of the induction motors. Our first approach consists in carrying out a vector control by orientation of rotor field using the compensations terms in order to uncouple and to linearise the voltages/currents transfers. The frequency command is calculated by self control, using the speed and the slip frequency, which is deduced from the equations of the induction motor. The robustness of the control loops of currents is ensured by HÆ correctors single-input single-output, using a simple and effective design method. The control was improved by the use of a Kalman observer which is reduced in delayed state, and extended to two parameters of the motor. Our second approach carries out the removing of the compensations terms and the self control. (. . . )
Chrifi-Alaoui, Larbi. "Commande robuste à double degré de liberté - stabilité et H." Ecully, Ecole centrale de Lyon, 1994. http://www.theses.fr/1994ECDL0056.
Murciano, Alex. "Algorithmes de la commande robuste et implémentation logicielle." Paris 9, 1991. https://portail.bu.dauphine.fr/fileviewer/index.php?doc=1991PA090006.
De, Hillerin Safta. "Commande robuste de systèmes non linéaires incertains." Thesis, Supélec, 2011. http://www.theses.fr/2011SUPL0015/document.
This thesis studies the LPV approach for the robust control of nonlinear systems. Its originality is to propose for the first time a rigorous framework allowing to solve efficiently nonlinear synthesis problems.The LPV approach was proposed as an extension of the H-infinity approach in the context of LPV (Linear Parameter-Varying) systems and nonlinear systems. Although this approach seemed promising, it was not much used in practise. Indeed, beyond certain theoretical limitations, the nature itself of the obtained solutions did not seem adequate. This open question constitutes the starting point of our work.We first prove that the observed weak variation of the controllers is in fact mostly due to the information structure traditionally used for LPV synthesis, and that under reasonable assumptions, the LPV framework can overlap feedback linearization strategies. This point having been resolved, a second difficulty lies in the actual achievement of nonlinear controllers yielding performance guarantees. We propose a rigorous framework allowing to solve efficiently an incremental synthesis problem, through the resolution of an LPV problem associated to a specific information structure compatible with the one identified in the first part.This study and its corollary description of a formal framework and of a complete controller synthesis procedure, including complexity reduction methods, provide powerful arguments in favor of the LPV approach for the robust control of nonlinear systems
Fergani, Soheib. "Commande robuste LPV/H infini multivariable pour la dynamique véhicule." Thesis, Grenoble, 2014. http://www.theses.fr/2014GRENT053/document.
The main issue of this thesis is to work out new Global Chassis MIMO controllers that enhance the overall dynamics of the vehicle while preserving the vehicle stability in critical driving situations. Many innovative strategies have been explored and finalized to deal with these problematics. Various solutions have been given to deal with the vehicle stability and performance objectives. Indeed, many works based on the LPV/Hinf approach have been developed to control simultaneously the braking, steering and suspension actuators. On the other hand, innovative road profile estimation strategies have been introduced and validated via experimental procedures, providing new cheap and easily implementable techniques to estimate the road profile characteristics. Then, the vehicle control is adapted, depending on the road roughness (since it influences greatly the behaviour and the stability of the car). Several fault tolerant control strategies have been also considered to handle the actuators failures while keeping the vehicle stability, safety and enhancing the dynamical behaviour of the car in dangerous and critical driving situations.The general content of this thesisis as follows :-PART I : Theoretical backgrounds and vehicle modeling.-PART II : Road adaptive control vehicle dynamics.-PART III : Global chassis control using several actuators.Also, during this thesis and using the previous works of the advisors and the thesis results, a Matlab ToolBox "Automotive" has been developed to provide a bench test for the different automotive control studies. Implementations on test beds and real vehicle are also achieved to prove the efficiency of the proposed strategies
Poussot-Vassal, Charles. "Commande robuste LPV multivariable de châssis automobile." Phd thesis, Grenoble INPG, 2008. http://www.theses.fr/2008INPG0171.
In this thesis, the automotive global chassis control problem is treated. The objective is to develop methodologies to control the different vehicle actuators (suspension, braking and steering systems) to enhance comfort and safety, and, to control the ground vehicle dynamics. Since it implies many different and nonlinear phenomena and constrained actuators, this problem turns to be very complex to solve. The tools and methods used are inspired from the recent developments in automatic control, and especially from the one from the robust control community applied to Linear Parameter Varying (LPV) systems. In this framework, we focus on the modeling, the analysis and the control of automotive systems as well as robust control for LPV systems, using the Linear Matrix Inequality (LMI) tools. The main results concern the development of a new semi-active suspension controller and an adaptive global chassis control using the robust LPV approach
Poussot-Vassal, Charles. "Commande Robuste LPV Multivariable de Châssis Automobile." Phd thesis, Grenoble INPG, 2008. http://tel.archives-ouvertes.fr/tel-00351472.
Rodrigues, Quintas Manuel. "Contribution à la modélisation et à la commande robuste des systèmes électrohydrauliques." Lyon, INSA, 1999. http://www.theses.fr/1999ISAL0042.
The work presented in this thesis covers two• closely related subjects: the first one is the modelling of an electrohydraulic axis when moving an uncertain inertial load on an horizontal plane, under large friction forces; the second one is the robust control of this device. Chapters one and two are concerned with the first subject, describing the development of a simulation model of the device behaviour as well as other models oriented towards the synthesis of different robust control strategies, such as nonlinear and linear tangent models. The first chapter, after a review of the main results concerning the modelling of electrohydraulic systems, presents a simulation model and proposes a sequence of simplifications leading to several different models usually described in the literature. The second chapter is mainly dedicated to the modelling of actuator friction and the static modelling of the power control device. A novel approach to the volumetrie flowrate characterization, enabling a better exploitation of available experimental data and a friction model including, among others, the viscoelastic behaviour of the actuator seals are presented in this chapter. Chapters three and four are concerned •with the second subject leading to a comparison of the performances of several robust control strategies, for different loads, actuator positions and trajectory profiles. An overview of the theoretical background concerning H…. Côntrol, the Corless-Leitmann robust control approach and nonlinear feedback linearization is presented on chapter three. In the fourth chapter, after model set up, the synthesis and implementation of the different controllaws is described. Experimental results are presented and discussed
Driemeyer, Franco Ana Lúcia. "Commande non linéaire robuste : une approche fondée sur une linéairisation par bouclage." Cachan, Ecole normale supérieure, 2006. http://www.theses.fr/2006DENS0003.
This thesis addresses the problem of robust control of nonlinear systems with respect to parameter variations and unstructured model uncertainties. In the conception of the controller proposed here, techniques of linear H,,,, synthesis associated with a robust feedback linearization are used. With this particular feedback linearization, the nonlinear system is transformed into its linear approximation around an operating point. The H,. Controller is obtained by using the McFarlane Glover method with loop shaping, which allows specifying the desired performance and robustness. The local robust stability of the nonlinear controller thus defined is demonstrated theoretically. Furthermore, this controller is evaluated through an application, the magnetic suspension, and its advantages are pointed out. Since the proposed controller is restricted to systems whose state is known, a procedure to extend it to other systems, by using state observers, is also studied
Ariza, Urango Ricardo. "Commande robuste multicritère : approche espace d'état et LMI." Toulouse 3, 2005. http://www.theses.fr/2005TOU30086.
Balloul, Iyad. "Commande robuste des systemes non linéaires." Grenoble INPG, 2000. http://www.theses.fr/2000INPG0001.
Pellanda, Paulo César. "Commande de systèmes instationnaires : séquencement de compensateurs et commande LPV." Toulouse, ENSAE, 2001. http://www.theses.fr/2001ESAE0005.
Gassmann, Vincent. "Commande décentralisée robuste de systèmes d'entraînement de bandes à élasticité variable." Strasbourg, 2011. http://www.theses.fr/2011STRA6010.
Cassany, Louis. "Modélisation et régulation de la glycémie dans la maladie du diabète." Thesis, Bordeaux, 2022. http://www.theses.fr/2022BORD0224.
Recent advancements in CGM sensors (Continuous Glucose Monitoring) and insulin pumps considerably improved the treatment of diabetes. However, CGM sensors can only measure the blood glucose level, limiting the insulin therapy algorithms. The IMS laboratory (Integration: from Material to Systems), the CBMN laboratory (Chemistry, Biology of Membranes and Nano-objects) and the CHU (University Hospital Center) gather specialists in diabetes, pancreatic islet biology, microelectronics and automatic control in order to develop new solutions for glycemic measurement and regulation for patients with diabetes. The work of this thesis falls within this context. The goal is to use the tools of the robust control theory in order to develop new insulinotherapy algorithms that can adapt to the physiological variability of the patient (age, weight...). These algorithms will be evaluated in the UVA/Padova simulator, currently the only simulator approved by the FDA (Food and Drug Administration) for in silico pre-clinical tests
LAVAL, LAURENT. "Modelisation et commande robuste en force d'un actionneur hydraulique confronte d'un environnement incertain : approche h et commande adaptative." Paris 6, 1997. http://www.theses.fr/1997PA066417.
Pognant-Gros, Philippe. "De la réduction de modèles vers la commande robuste : application à la commande des canaux d'irrigation." Caen, 2003. http://www.theses.fr/2003CAEN2003.
Claveau, Fabien. "Contribution à l'analyse et la commande structurée des grands systèmes." Phd thesis, Ecole centrale de nantes - ECN, 2005. http://tel.archives-ouvertes.fr/tel-00087765.
Si la commande décentralisée a mobilisé de nombreux efforts de recherche dés les années 70, de nombreux problèmes restent ouverts. Dans le même temps, des outils d'analyse et de synthèse performants ont été développés, dans le cadre H2 et H¥ notamment. Leur mise en œuvre pour de très grands systèmes (composés le plus souvent de sous-systèmes interconnectés) peut cependant poser problème, et ce d'autant que des contraintes de structure sont appliquées au correcteur.
L'élaboration de commandes pour les systèmes complexes requiert à l'évidence de la méthodologie. A cette fin, ce document s'intéresse à l'analyse des interconnexions internes au système pour choisir la structure du régulateur la mieux appropriée. Il considère également la problématique du choix du critère et la possibilité d'aborder séquentiellement l'optimisation globale d'un correcteur H2. Ces réflexions à caractère méthodologique sont mises en œuvre sur un système expérimental (multi-moteurs) d'entraînement de bande flexible.
Poinard, Franck. "Méthode d'identification fréquentielle et commande robuste de type H∞ d'un procédé d'élaboration de monocristaux." Lyon 1, 1995. http://www.theses.fr/1995LYO10180.
Mokhtari, Abdellah. "Commande et observateur non linéaires robustes appliqués à un robot volant Quadrotor." Versailles-St Quentin en Yvelines, 2010. http://www.theses.fr/2010VERS0035.
Quadrotor Unmanned aerial vehicles are being used more and more in civilian applications such as monitoring of traffic, recognition and surveillance vehicles, search and rescue operations They are highly capable to flown without an on-board pilot. UAVs have unmatched qualities that make them the only effective solution in specialized tasks where beyond normal human endurance is required, or where human presence is not necessary. Because of a fully autonomous operation and faster dynamics which lead to a difficult control design to obtain a satisfactory level of performance, a systematic study of the UAV dynamics representation seems to be necessary. Their successful application depends on their level of controllability and flying qualities. The Navigation System (GPS,INS,inclinometer,. . . ) is widely used as one component in guidance, navigation, and control systems. To calculate position and orientation of the Quadrotor. In this work a feedback linearization controller combined with a sliding mode observer is applied to quadrotor. The observer is used to reconstruct the unmeasured state necessary for the outer loop controller. A wind estimator is added to constitute an original concept with minimum sensors. To improve robustness of Quadrotor, a non linear robust controller based observer is proposed taking into account uncertainties, disturbances and noise measurement
Jungers, Marc. "Commande robuste multicritère - une approche par la théorie des jeux." Phd thesis, École normale supérieure de Cachan - ENS Cachan, 2006. http://tel.archives-ouvertes.fr/tel-00162120.
Demourant, Fabrice. "Interactions identification-commande robuste : méthodes et applications à l'avion souple." École nationale supérieure de l'aéronautique et de l'espace (Toulouse ; 1972-2007), 2002. http://www.theses.fr/2002ESAE0019.
Benlatreche, Adlane Abdelkader. "Contribution à la commande robuste H∞ de systèmes à grande échelle d’enroulement de bandes flexibles." Université Louis Pasteur (Strasbourg) (1971-2008), 2007. https://publication-theses.unistra.fr/public/theses_doctorat/2007/BENLATRECHE_Adlane_Abdelkader_2007.pdf.
In web transport systems, the main concern is to control independently speed and tension in spite of perturbations such as radius variations and changes of set point. Nevertheless, in these control techniques, tracking properties and perturbation rejection are interdependent and cannot be specified separately. In this thesis, we first present multivariable decentralised H∞ controllers with one or two degrees of freedom (DOF), with and without explicit integrator, applied to winding systems. Different controller structures are then considered: centralised and semi-decentralised controllers with or without overlapping. The 2DOF approach improves significantly the disturbance rejection while reducing the coupling between tension and velocity. The use of decentralised control leads to performance deterioration as compared to centralised control. The off-diagonal elements of the plant are represented as uncertainties. This enables to analyse the stability of a decentralised control structure. Finally, multivariable H∞ controllers are presented, with and without integrator, applied to winding systems and determined by a bilinear matrix inequality (BMI) approach. This method consists in designing state feedback control with the use of BMI optimisation. Insertion of full or partial integral action is discussed. Simulation results are given based on a nonlinear model identified on a 3-motor winding test bench. Experimental results have also been obtained on this setup
Fache, Antoine. "Contribution à la commande robuste des systèmes non linéaires par modèle connexionniste : synthèse multicritère par l'approche LMI." Reims, 2001. http://www.theses.fr/2001REIMS008.
Mammar, Said. "Commande multivariable robuste par les approches lqg/ltr et h-infini. Application a un helicoptere." Paris 11, 1992. http://www.theses.fr/1992PA112306.
Dinh, Marc. "Synthèse dépendant de paramètres par optimisation LMI de dimension finie : application à la synthèse de correcteurs reréglables." Caen, 2005. http://www.theses.fr/2005CAEN2040.
Ghamgui, Mariem. "Analyse et commande des systèmes multidimensionnels." Thesis, Poitiers, 2013. http://www.theses.fr/2013POIT2275.
This thesis deals with the analysis and the control of multidimensional systems. These systems can be defined as the classe of systems where the information is propagated in several independent direction. For instance, a 2D system with a dimension corresponding to space and, the other one to time. The contributions presented in this work focuses, on one hand, on the control of 2D discrete or continuous systems with constant or variable delays and on the other hand, on the synthesis of robust state feedback controllers for nD hybrid uncertain systems including parameter uncertainties complying with an implicit linear fractional representation (ILFR). Two approaches are used. One is based on the characteristic polynomial and the other on Lyapunov techniques. Sufficient conditions for stability and stabilization are established for 2D delayed discrete or continuous systems using Lyapunov approach. Conditions to insure both stability and a prescribed H∞ performance level are given for this class of systems. Then, a general framework for the establishment of computationally tractable LMI conditions to analyse the stability of nD hybrid systems is proposed. Robust stability and stabilization conditions are then established for nD hybrid uncertain systems. The uncertainties comply with an (ILFR) description
Oliveira, Ramos Fausto De. "Automatisation de la synthèse H-infinie de compensateurs et de leurs réalisations sous forme estimation-commande." Toulouse, ISAE, 2011. http://www.theses.fr/2011ESAE0026.
Zhang, Yi-Ming. "Synthesis of state estimation and H∞ predictive control for networked control systems." Rouen, 2014. http://www.theses.fr/2014ROUES017.
This thesis mainly focuses on networked controlled systems, which induce problems such as network-induced delays, packet losses and out-of-order in both the control and the feedback channels. The contribution of this thesis is twofold: the synthesis of (i) a control law and (ii) a network-faced robust estimation algorithm solving both these issues. About control, state-based network-faced generalized predictive control has been investigated, with a design covering a greater number of packet losses if compared to existing approaches in the literature. The main contribution is the resolution of the stability problem for generalized predictive control for a given disturbance level. About state estimation, a Kalman filtering approach has been proposed, with a threshold-length buffer and a dropping over-delayed packet strategy. Based on a linear matrix inequality theorem and modified Riccati equations with packet arrival rate, a complete mathematical relationship between the estimator convergence and the threshold-based packet arrival process is established, so that to derive a stability condition. Furthermore, constraints on state vector and model uncertainties have been both considered. The effectiveness of the proposed methods is illustrated on two different automotive applications: battery state of charge estimation and electromagnetic valves control
Mourad, Lama. "Contrôle actif de l'accélération latérale perçue d'un véhicule automobile étroit et inclinable." Phd thesis, Ecole des Mines de Nantes, 2012. http://tel.archives-ouvertes.fr/tel-00787310.
Sève, Florian. "Commande robuste pour une classe de systèmes non linéaires à paramètres variants : application aux projectiles guidés." Thesis, Université de Lorraine, 2016. http://www.theses.fr/2016LORR0281.
This thesis addresses the development of the flight dynamics and control laws for an artillery spin-stabilized projectile equipped with a decoupled guidance nose. A projectile nonlinear model is discussed, and it is used for computing a linearized model of the nose roll dynamics along with a q-LPV model of the highly parameter-varying pitch/yaw-dynamics. Modeling uncertainty is taken into account for autopilot design. Important properties specific to spin-stabilized projectiles, which are relevant to pitch/yaw-channel cross-coupling, internal modes and stability, are highlighted using the q-LPV model. In order to use the latter for calculating a control law, the dimension of its parameter vector is reduced and the position of the nose-embedded sensors is considered. A single linear controller is sufficient for the nose roll angle dynamics whereas a systematic linearization-based gain-scheduled control strategy is separately devised to provide a pitch/yaw-axis load factor gain-scheduled controller. Controllers of reduced-order fixed structures are computed by applying the same H∞ linear design loop-shaping approach for the roll and pitch/yaw-axes. Very good closed-loop performance and robustness properties, which are similar to those provided by full order controllers, are obtained. Finally, the effectiveness of the autopilot augmented by a pure proportional navigation guidance law is verified through a variety of nonlinear trajectory simulations. The latter correspond to nominal flight scenarios with ballistic, non-ballistic stationary, and maneuvering interception points, and to scenarios with perturbed launch conditions or guided projectile dynamics
COVILLE, ARNAUD. "Approches de la commande robuste par positivite dans le cadre h-infini : application a la stabilisation de structures flexibles." Paris 6, 1992. http://www.theses.fr/1992PA066100.
Sève, Florian. "Commande robuste pour une classe de systèmes non linéaires à paramètres variants : application aux projectiles guidés." Electronic Thesis or Diss., Université de Lorraine, 2016. http://www.theses.fr/2016LORR0281.
This thesis addresses the development of the flight dynamics and control laws for an artillery spin-stabilized projectile equipped with a decoupled guidance nose. A projectile nonlinear model is discussed, and it is used for computing a linearized model of the nose roll dynamics along with a q-LPV model of the highly parameter-varying pitch/yaw-dynamics. Modeling uncertainty is taken into account for autopilot design. Important properties specific to spin-stabilized projectiles, which are relevant to pitch/yaw-channel cross-coupling, internal modes and stability, are highlighted using the q-LPV model. In order to use the latter for calculating a control law, the dimension of its parameter vector is reduced and the position of the nose-embedded sensors is considered. A single linear controller is sufficient for the nose roll angle dynamics whereas a systematic linearization-based gain-scheduled control strategy is separately devised to provide a pitch/yaw-axis load factor gain-scheduled controller. Controllers of reduced-order fixed structures are computed by applying the same H∞ linear design loop-shaping approach for the roll and pitch/yaw-axes. Very good closed-loop performance and robustness properties, which are similar to those provided by full order controllers, are obtained. Finally, the effectiveness of the autopilot augmented by a pure proportional navigation guidance law is verified through a variety of nonlinear trajectory simulations. The latter correspond to nominal flight scenarios with ballistic, non-ballistic stationary, and maneuvering interception points, and to scenarios with perturbed launch conditions or guided projectile dynamics
Kim, Yong Kyu. "Analyse de robustesse et ses applications sur l'optimisation H-infini d'un système électromécanique." Vandoeuvre-les-Nancy, INPL, 1997. http://www.theses.fr/1997INPL070N.
Hernandez, Lopezomoza Mario Andres. "Cadre de travail généralisé de compensation non-linéaire robuste : application à la rentrée atmosphérique." Thesis, Toulouse, ISAE, 2012. http://www.theses.fr/2012ESAE0022/document.
This thesis work is devoted to extending Nonlinear Dynamic Inversion (NDI) for a large scale of nonlinear systems while guaranteeing sufficient stability conditions. NDI has been studied in a wide range of applications, including aeronautics and aerospace. It allows to compute nonlinear control laws able to decouple and linearize a model at any operating point of its state envelope. However, this method is inherently non-robust to modelling errors and input saturations. Moreover, obtaining a quantifiable guarantee of the attained stability domain in a nonlinear control context is not a very straightforward task. Unlike standard NDI approaches, our methodology can be viewed as a generalized nonlinear compensation framework which allows to incorporate uncertainties and input saturations in the design process. Paralleling anti-windup strategies, the controller can be computed through a single multichannel optimization problem or through a simple two-step process. Within this framework, linear fractional transformations of the nonlinear closed-loop can be easily derived for robust stability analysis using standard tools for linear systems. The proposed method is tested for the flight control of a delta wing type reentry vehicle at hypersonic, transonic and subsonic phases of the atmospheric reentry. For this thesis work, a Flight Mechanics simulator including diverse external factors and modelling errors was developed in Simulink
Perez, Gonzalez Jose Alvaro. "Commande robuste structurée : application au co-design mécanique / contrôle d’attitude d’un satellite flexible." Thesis, Toulouse, ISAE, 2016. http://www.theses.fr/2016ESAE0026/document.
In this PhD thesis, the integrated control/structure design of a large flexible spacecraft isaddressed using structured H1 synthesis. The problem is endeavored by developing a modeling technique forflexible multibody systems, called the Two Input Two Output Port (TITOP) model. This general frameworkallows the assembly of a flexible multibody system in chain-like or star-like structure, using finite elementmodels as input data. Additionally, the TITOP modeling technique allows the consideration of parametricvariations inside the system, a necessary characteristic in order to perform integrated control/structure design. In contrast to another widely used method, the assumed modes method, the TITOP modelling technique is robust against changes in the boundary conditions which link the flexible bodies. Furthermore, the TITOP modeling technique can be used as an accurate approximation even when kinematic nonlinearities can be large. The TITOP modeling technique is extended to the modeling of piezoelectric actuators and sensors for the control of flexible structures and revolute joints. Different control strategies, either for controlling rigid body and flexible body motion, are tested with the developed models for obtaining the best controller’s architecture in terms of perturbation rejection and vibration damping. The implementation of the integrated control/structure design in the structured H1 scheme is developed considering the different system’s specifications, such as system’s bandwidth or modes damping, in the form of H1 weighting functions. The integrated attitude control/structure design of a flexiblesatellite is performed using all the developed techniques and the optimization of the control law and severalstructural parameters is achieved
Halabi, Souheil. "Filtrage robuste pour les systèmes stochastiques incertains." Phd thesis, Université Henri Poincaré - Nancy I, 2005. http://tel.archives-ouvertes.fr/tel-00011344.
Les systèmes stochastiques étudiés dans ce mémoire sont écrits sous la forme d'une équation différentielle stochastique au sens d'Itô dans lesquels la dérive et la diffusion sont linéaires ou bilinéaires. Les systèmes avec plusieurs bruits multiplicatifs et les systèmes dont les mesures sont affectées par des bruits multiplicatifs sont également traités dans ce mémoire. La conception d'une commande H-infine basée sur un observateur d'ordre réduit pour les systèmes stochastiques incertains est étudiée.
Le critère de performance considéré est le critère H-infine du signal de perturbation vers le signal d'erreur d'estimation. La stabilité retenue pour ces systèmes stochastiques dans ce travail est la stabilité exponentielle en moyenne quadratique.
La méthode utilisée pour trouver les matrices des filtres est basée sur l'utilisation de la théorie de Lyapunov pour les équations différentielles stochastiques, la formule d'Itô et sur la résolution des Inégalités Matricielles Affines couplées à des contraintes bilinéaires qui assurent la stabilité et la performance.
Bompart, Vincent. "Optimisation non lisse pour la commande des systèmes de l'aéronautique." Toulouse 3, 2007. http://thesesups.ups-tlse.fr/76/.
Modern controller design methods for linear dynamical systems are based on solving matrix equations (Lyapunov, Riccati) or on optimization programs with matrix inequality constraints (LMI, BMI). The execution times of these techniques are often prohibitive, because of auxiliary variables (called Lyapunov variables), whose number grows quadratically with the plant order. Furthermore, they lead to analytical and computational difficulties when the sought controller is static, reduced-order, or when it is finely structured, although such constraints very often arise in a realistic setting. In order to solve such challenging problems efficiently, the approach adopted in this thesis consists in formulating them in the theoretical and general framework of nonlinear, nonconvex, and more specifically here, nonsmooth programming. The problems of closed-loop stabilization, H-infinity synthesis, or satisfaction of time-domain constraints arise naturally in this formalism and are studied in this thesis. Firstly, we propose a nonsmooth descent algorithm which exploits an exhaustive description of the Clarke subdifferential. It is applied to each of these three fundamental control problems. Its numerical efficiency and versatility are stressed through a vast array of applications in structured or fixed-order controller synthesis. A second approach, specifically developed for H-infinity synthesis, is based on a smooth local reformulation of the problem and solved with the sequential quadratic programming (SQP) algorithm. Its faster convergence is illustrated with static output feedback control examples
Do, Manh Hung. "Synthèse robuste d'observateurs pour systèmes singuliers linéaires à paramètres variants." Thesis, Université Grenoble Alpes, 2020. http://www.theses.fr/2020GRALT053.
This Thesis is focused on the study of state and fault estimation in Linear Parameter-Varying (LPV) systems. The Thesis considers two classes of systems: non-singular and singular systems. In specific, the proposed observers are synthesized to be robust against parametric uncertainties, input and output disturbances, measurement noise, Lipschitz nonlinearities, and time delays. The major contributions of this research are respectively: an integrated observer-controller design for uncertain LPV systems with a new methodology of disturbance attenuation called output frequency-shaping filter; the design and the development of unknown input (UI) observers for fault estimation under the existence of partially decoupled UIs; the synthesis of H∞ and H2 observers for the singular system with Lipschitz nonlinearity; and a H∞ observer design for time-delay LPV system. Finally, the performance of the proposed methods is justified by laboratory experiments with INOVE platform and numerical examples
As'ad, Kamel. "Élaboration d'une stratégie de commande h-infini à plusieurs degrés de liberté : poursuite et rejet de perturbations." Nancy 1, 1993. http://www.theses.fr/1993NAN10033.
Vincent, Sébastien. "Étude de la complémentarité d'actionneurs pour la commande active des structures flexibles." Toulouse, ENSAE, 1996. http://www.theses.fr/1996ESAE0002.
Lescher, Fabien. "Commande LPV d'une éolienne à vitesse variable pour l'optimisation énergetique et la réduction de la fatigue mécanique." Ecole Centrale de Lille, 2006. http://www.theses.fr/2006ECLI0011.
In order to permit wind energy to keep its current development, efforts must be done to decrease its cost. Control algorithms enhancement is considered as a promising way to reduce the cost of the energy generated by a variable speed, pitch regulated wind turbine. Indeed, control laws aim at optimizing energy conversion and at reducing dynamic loads inducing the mechanical fatigue affecting the plant structure. Variable speed turbine operation is divided into three operating areas, depending on the wind speed crossing the plant rotor, and for which control objectives are different. Hence, three switching LPV controllers are designed in order to ensure stability, some H2 and Hinf performance levels and robustness levels to parametric uncertainties, for the entire operating area of the system. Controllers parameters are calculated by a convex optimization process of the control problem formulated by LMIs, and from a LPV decription of the system behavior representing system non-linearities and flexibilities of the main components of the mechanical structure (blades, shaft, tower). A LPV anti-windup compensator is also designed in order to ensure some performance level during the rate saturation of the pitch actuator caused by a wind gust. Results of the simulations realized with a 400kW wind turbine model show that the designed control system permits to sensibly improve system performances, especially in term of the mechanical fatigue affecting the plant structure
VALENTIN, CHARBONNEL CATHERINE. "Commande robuste avec contrainte d'ordre, par la norme h-infini et le formalisme lmi - application au controle d'attitude d'un satellite d'observation de la terre." Paris 11, 1998. http://www.theses.fr/1998PA112268.