Dissertationen zum Thema „Loi de commande H_∞“
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Troudi, Rami. „Étude, conception et structure de commande temps réel d'un onduleur multiniveau à partir d'une seule source DC ; applications énergies renouvelables et véhicules électriques“. Thesis, Poitiers, 2021. http://www.theses.fr/2021POIT2262.
Rami Troudi's thesis research work addresses three problematics:- the first is to design a three-phase multilevel inverter for applications based on renewable energies connected to the power grid, or for electric motor drive of electric vehicles. In the first application, the use of multilevel arms greatly limit the coupling inductances with the power grid, while in the second application, the torque delivered by the motor is of better quality.- the second is to design a DC-DC converter structure having only one DC source destinated to supply this multilevel inverter.- the third is the design of a real-time control architecture based on microcontrollers leading to a large capacity of evolution and calculation and an ease industrialization.The thesis manuscript is organized into four chapters.The first chapter presents a state of art of multilevel inverter structures. This technology is becoming an important research topic today. This chapter gives the advantages and disadvantages of each conventional multilevel inverter topology as well as the new topologies with a reduction in the number of components. This chapter also give a reviews of the state of art of chopper structures with one or multiple inputs-outputs (MISO, MIMO and SIMO). This chapter also presents the advantages and the disadvantages of each family of structure with their regulation. The end of the chapter presents the new topologies retained for the multilevel inverter and the SIQO chopper (one input-four outputs).The second chapter is devoted to the presentation of the structure of the proposed multilevel inverter, as well as to the study of its mode of operation, its close control device and its use in a closed loop application. This chapter shows that this structure has the advantage of minimizing losses in power components by having, at any time, few components that conduct the current of each arm, which allows to increase its efficiency. In addition, this chapter shows the simplicity of the used close control of the inverter employing a very simple algorithm. Experimental tests are given at the end of the chapter after the description of the test bed.The third chapter discusses in detail the structure of the SIQO DC-DC converter used to supply the multilevel inverter, its operation mode, its modeling and the development of a multi-input multi-output (MIMO) control. This structure is designed from a coupling of the SEPIC structure with the buck-boost structure and the doubling of each output by a switching system which leads to obtain four outputs from a single DC input. Each structure (SEPIC and buck-boost) manages two outputs with the calculation of two duty cycles. For this, a control synthesis based on an Hinfini method is presented to be robust to the variations of the currents and the changes of the setpoint. The results of the experimental tests are given at the end of the chapter after the description of the test bed.Chapter four discusses the development of one architecture based on multi-microcontroller system. This structure is applied to the control of the three-phase multilevel inverter. This chapter describes all the functions that compose this architecture at the hardware and software level. The distribution of the hardware and algorithmic needs several microcontrollers makes it easier to evolve the demands for additional functions, namely the diagnosis and reconfiguration of an arm, as well as the addition of the active filtering function. This architecture is based on SPI (Serial Peripheral Interface) bus communication which allows rapid exchanges between the microcontrollers and also towards an HMI (human-machine interfaces) system
Ouattara, Seydou. „Mise en œuvre d'une loi de commande adaptative floue indirecte“. Valenciennes, 1996. https://ged.uphf.fr/nuxeo/site/esupversions/34633a72-0657-4c61-8628-c72bea21021e.
Lesueur, Sébastien. „Implantation en technologie ITGE (VLSI) d'une loi de commande pour une articulation flexible /“. Thèse, Trois-Rivières, Université du Québec à Trois-Rivières, 1999. http://www.uqtr.ca/biblio/notice/resume/03-2201296R.html.
Lesueur, Sébastien. „Implantation en technologie ITGE (VLSI) d'une loi de commande pour une articulation flexible“. Thèse, Université du Québec à Trois-Rivières, 1999. http://depot-e.uqtr.ca/3389/1/000659572.pdf.
Voinot, Olivier. „Développement de méthodologies de synthèse de loi de commande pour le pilotage des lanceurs“. École nationale supérieure de l'aéronautique et de l'espace (Toulouse ; 1972-2007), 2002. http://www.theses.fr/2002ESAE0013.
Delmond, Fabien. „Alternatives à la synthèse multi-objectifs : forme standard de passage et ajustements de loi de commande“. Toulouse, ENSAE, 2005. http://www.theses.fr/2005ESAE0017.
Brazeau, Philippe. „Loi de commande linéaire à paramètres variants d'une formation de satellites sur une orbite excentrique“. Mémoire, Université de Sherbrooke, 2011. http://savoirs.usherbrooke.ca/handle/11143/1635.
Robert, David. „Contribution à l'interaction commande/ordonnancement“. Phd thesis, Grenoble INPG, 2007. http://tel.archives-ouvertes.fr/tel-00207709.
Caramelle, Laurent. „Implantation d'une loi de commande. Application à la plate-forme de satellite de télécommunication eurostar 2000+“. Nancy 1, 1995. http://docnum.univ-lorraine.fr/public/SCD_T_1995_0338_CARAMELLE.pdf.
Farah, Jacques. „Développement d'une loi de commande avancée pour la maitrise des vibrations des robots sériels à liaisons flexibles“. Thesis, Université Clermont Auvergne (2017-2020), 2019. http://www.theses.fr/2019CLFAC002/document.
Nowadays, the demand of productivity in the industrial world of robotics require robots to behave optimally in terms of geometric and dynamic accuracy and response time. Thus, the presence of flexibilities in rotational joints can dynamically limit the position control of manipulators having lighter arms, higher payload-to-weight ratio and doing tasks at high speed. The problem addressed in this work concerns the vibration control of serial robots with flexible joints performing Pick and Place tasks. In this work, we carry out modelling and experimental identification of the geometric and dynamic parameters of a robot with flexible joints. This model is then used in the synthesis of a model-based control law dedicated to manipulators with flexible joints. This strategy reduces vibrations resulting from joints sensitivity during dynamically demanding phases. Simulations on a Scara robot are then conducted to validate the relevance of the proposed control law which integrates joint flexibilities in the form of a feedback loop in the control diagram. To this end, three other control strategies (PD control, control dedicated to rigid structures and control not considering damping) are applied to the same simulator in order to make a comparative analysis. The diagram of the model-based control law allows to respect the set point with a reduction in the stabilization time.Finally, the calculation of the servo error allowed us to see the influence of flexibility modeling errors on the accuracy of the task. In this context, the sensitivity of this control law is evaluated through a sensitivity analysis
Mansouri, Mejda. „Observation et commande des systèmes de grande dimension“. Phd thesis, Université de Lorraine, 2012. http://tel.archives-ouvertes.fr/tel-00808649.
Beldi, Mohamed. „Optimisation de la loi d'épaisseur des structures minces“. Compiègne, 1988. http://www.theses.fr/1988COMPD153.
Optimization techniques are applied here to minimize the mass of sand casting pieces by varying the thickness distribution of non-functional parts. A car suspension arm is taken as example. Finite element modelling is realized with triangular 3-node elements by using MEF/MOSAIC software. The middle surface of the shell is assumed to be fixed ; the design variables are the thicknesses of elements or groups of elements. The result is then smoothed to provide a feasible solution. Constraints are imposed to limit the stresses values on the critical parts of the structure. The minimization algorithm requires their gradients which are expressed by using the adjoint state method. The numerical results show that the optimization of thickness leads to a 25 % decrease of the mass
Losser, Yannick. „Ajustement de lois de commande et application en aéronautique“. Toulouse, ENSAE, 2006. http://www.theses.fr/2006ESAE0004.
Saoud, Othman. „Conception d'une loi de commande robuste de la pression dans un réservoir pneumatique à l'aide d'une formulation IML“. Mémoire, École de technologie supérieure, 2003. http://espace.etsmtl.ca/732/1/SAOUD_Othman.pdf.
Saoud, Othman. „Conception d'une loi de commande robuste de la pression dans un réservoir pneumatique à l'aide d'une formulation IML /“. Montréal : École de technologie supérieure, 2003. http://wwwlib.umi.com/cr/etsmtl/fullcit?pMQ80827.
"Mémoire présenté à l'École de technologie supérieure comme exigence partielle à l'obtention de la maîtrise en technologie des systèmes". Bibliogr.: f. [103]-105. Également disponible en version électronique.
Garcia, Salazar Octavio. „Modélisation et commande d'un avion à décollage vertical“. Compiègne, 2009. http://www.theses.fr/2009COMP1836.
This thesis is focussed on the design, modeling and control of the VTOL (Vertical Take off and Landing) UAVs. The control of these vehicles is implemented in order to perform autonomous flights. A functional description of these machines is described and the mathematical models are obtained by using the Newton-Euler formulation. These dynamic models include gyroscope effect, actuator torque, aerodynamic terms, thrust and gravitational forces. Vertical flight is studied for the tail-sitter UAVs (T-Plane, V-co-aX and CPlane). Control laws based on saturation functions are proposed for the stabilization of these UAVs in hover mode. Simulation and experimental results are obtained during the hover flight. Longitudinal dynamics (2-D model), including the aerodynamic terms, is analyzed for the Twister UAV, and a nonlinear control law is proposed for achieving the global stability of this vehicle. For the C-Plane vehicle, the longitudinal model is studied to perform the transition maneuver and the aerodynamic terms are obtained by considering the propeller analysis. Furthermore, results obtained from simulation and real time show an effective behavior of the proposed control laws. Finally, an embedded control system is developed to test the proposed control strategies. This system consists of low-cost sensors. A homemade inertial measurement unit was designed to perform the complete operational range of the vehicle (including vertical and horizontal modes). This IMU incorporates an analog complementary filter whose objective is to estimate the angular position
Bala, Mokrane. „Contributions à l'amélioration de la loi de commande d'une machine électrique d'un compresseur de climatisation : réduction du nombre de capteurs de courant“. Thesis, université Paris-Saclay, 2021. http://www.theses.fr/2021UPAST014.
This thesis work is part of the EDC (Electrical Driven Compressor) project, which aims to develop reliable, compact electric air conditioning compressors that comply with automotive standards and have low production costs. This thesis is made up of two parts. The first one is devoted to the elimination of phase current sensors and their replacement by a single current sensor at the DC bus level. This removal was performed with the help of an algorithm for the reconstruction of phase currents. The modification of the SVPWM control law by an analytical algorithm was made necessary in order to ensure the reconstruction of the phase currents over the entire operating range. Simulation and experimentation results have shown the good working of the phase current reconstruction algorithm using the modified SVPWM. The aim of the second part of this work was to reduce electromagnetic interference by control, using spread spectral techniques based on random PWM. The complexity of this part mainly concerned the adaptation of this method to our reconstruction algorithm based on the modified SVPWM. The simulation results and the experimental results showed good spectral spreading of the different harmonics of the phase currents and the output voltages of the inverter
Misiti, Yves. „Détermination, guidée par les connaissances, d'une loi de pilotage pour un lanceur spatial : analyse de ces connaissances et construction d'un système expert“. Paris 11, 1986. http://www.theses.fr/1986PA112353.
Ghanem, Mohamed Chérif. „Étude et conception des algorithmes de commande numérique de la vitesse pour une nouvelle loi d'asservissement d'un moteur synchrone autopiloté à commutation naturelle“. Thèse, Université du Québec à Trois-Rivières, 1990. http://depot-e.uqtr.ca/5422/1/000587515.pdf.
Miro, Padovani Thomas. „Loi de gestion d'énergie embarquée pour véhicules hybrides : approche multi-objectif et modulaire“. Thesis, Orléans, 2015. http://www.theses.fr/2015ORLE2047/document.
The hybrid electric vehicle uses two different energy sources to propel itself: fuel as well as a reversible electric storage system. The energy management strategy aims at supervising the power flows inside the powertrain by choosing the operating points of the different components so as to optimize a given criterion. The energy management strategy is formulated as an optimal control problem where the criterion to be minimized takes into account the total fuel consumption of the vehicle on the considered trip. The optimal solution can be calculated off-line when the vehicle’s mission is perfectly known, an assumption no longer admissible for an embedded strategy whose main objective is to get as close as possible to the optimal result. The work presented in this manuscript highlights the potential of multi-objective optimal control to handle the features’ trade-offs inherent to the development of production vehicle. An energy management strategy taking into account the trade-off between fuel consumption and drivability, as well as one dealing with the trade-off between fuel consumption and battery state of health, are proposed. The presented strategies share a modular approach following the transversal solution of the Equivalent Consumption Minimization Strategy (ECMS). As a result, the control policy of the plug-in hybrid electric vehicle, the Mild-Hybrid, together with complex hybrid architectures provided with an automated transmission, two electric machines or two electric storage systems, is tackled through a common base. This approach allows to reduce the development period of the energy management strategies which shares a maximum of common elements
Le, Flohic Julien. „Vers une commande basée modèle des machines complexes : application aux machines-outils et machines d'essais mécaniques“. Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22551/document.
Nowadays, the requirements in productivity and costs mastering have forced the industrial manufacturers to develop new kind of mechanisms. Thus, the complexity of the machine-tools structures and machining processes has increased and new challenges have emerged : flexible structure, vibration, non-negligible dynamic effects, etc ... However, their implementation still comes from methods used for conventional machines. These works are thus about defining overall strategies including consideration of the kind of structure used and the task to realise. Two illustrative contexts are used. In the context of machining, we propose a generic tuning method based on kinematic and dynamic model of machine-tools structure that requires only a few manual modifications, in order to save time for implementation. A new computed torque control law is proposed, it reduces vibration phenomena in dynamical demanding phases. In the context of the mechanical tests, the objective is to demonstrate the feasibility of using parallel machines with 6 degrees of freedom in the context of mechanical tests, whereas the boundary conditions are perfectly controlled. We propose an instrumentation and control scheme that is able to perform mechanical tests with a maximum error of about 0.40 mu m, even in the case of very rigid specimen (concrete for example)
Kreiss, Jérémie. „Allocation de commande pour l'électrotechnique et l'électronique de puissance“. Thesis, Lyon, 2019. http://www.theses.fr/2019LYSEI119.
This thesis is about the use of control allocation theory in the field of electrical engineering and power electronics. It is composed of two parts. The first one is related to control allocation theory and the second one focuses on the control of a particular application: the parallel interconnection of DC/DC converters. The control allocation theory gives tools to design control laws for input redundant systems. However, current definitions about those systems suffer from a lack of uniformity. That is why the first part provides new definitions and characterisations of input redundant systems in order to take input and state constraints into account. Furthermore, the control allocation method named "geometric approach" is enhanced to deal with input constraints while designing the control law. Thanks to those contributions, it is shown in the second part that the system composed of the parallel interconnection of DC/DC converters to a single load is an input redundant system. On this system, some methods of the control allocation theory are used to design a controller with stability and performance guarantees. Simulations and experimentations are given to highlight those development
Béarée, Richard. „Prise en compte des phénomènes vibratoires dans la génération de commande des machines-outils à dynamique élevée“. Phd thesis, Paris, ENSAM, 2005. http://pastel.archives-ouvertes.fr/pastel-00001611.
Apsokardou, Eirini. „Le domaine de la loi et du règlement dans le droit des contrats administratifs“. Thesis, Paris 2, 2012. http://www.theses.fr/2012PA020004.
According to the case law of the Constitutional Council and the administrative courts as well as to some public law theorists, the definition of the rules governing the award and the performance of Government administrative contracts, administrative contracts of State-depended public bodies and public contracts of local authorities falls within the scope of the regulatory powers of Government. More specifically it is argued that public procurement law is part of the rules governing the procedure of administrative decision making and the organisation of public services which are matters traditionally reserved to the autonomous regulatory power. The lack of coherence within the legislative and regulatory sources of public procurement law is mainly due to the predominant role of regulations. Despite the latter’s consolidation by the French courts, the growing number of legislative texts intended to build a coherent set of rules in this field has become a source of complexity. The transformation of the sources of the law of administrative contracts in the last few years – including the Community law dimension – requires the prior intervention of the Legislature. Therefore, the provisions governing the law of public procurement contracts should necessarily be restructured. This could be achieved through the redefinition of the constitutional basis of legislative and regulatory powers in the field of public contract law and consequently through a new balance between law and regulation with the intention of safeguarding the predominance of the former. Drafting the rules on the basis of Article 34 of the French Constitution which enables the Legislature to define the fundamental principles of civil obligations will clearly contribute to a more coherent and systematic approach regarding the sources of public procurement law.. Should the powers of the Legislature be safeguarded, the regulations will then be confined to their usual role, which is secondary and subordinate to Parliamentary Acts
Deniéport, Romain. „Amélioration du rendement énergétique et de la dynamique d'entrée de convertisseurs d’énergie isolés par l’utilisation de techniques analogiques et numériques de commande“. Thesis, Paris 11, 2014. http://www.theses.fr/2014PA112381.
Power converters are present in virtually every embedded system, but many standards of DC networks exist: the supply voltage is depending on how the power is generated (battery, alternator …) and can range from 12V to more than 115V. When an equipment must comply with a 110V main supply and 12V back-up supply, the use of a wide input voltage range DC/DC converter is mandatory. Since classical switched mode power converters cannot achieve simultaneously high efficiency and wide input voltage range, manufacturers rarely propose DC/DC converters with an input voltage range greater than 10. This work tackles the issue of wide input voltage power conversion. After discussing about designs trade off and problems that stem from a wide input range, we try to improve the overall efficiency of a classical buck-boost converter, by using non dissipative switching-aid circuits. We also proposed a novel two stages power converter capable of dealing with very wide input voltage ranges (more than 20), without a reduction of the power efficiency. Since those new converters are far more difficult to control, some theoretical analysis was performed and some practical tests were done using complex controls laws
Xu, Yaozhong. „Modelling and control of a high performance electro-hydraulic test bench“. Phd thesis, INSA de Lyon, 2013. http://tel.archives-ouvertes.fr/tel-00876661.
Gharsallaoui, Hajer. „Reconfiguration de lois de commande et accommodation active des modes de fonctionnement pour les systèmes plats“. Thesis, Ecole centrale de Lille, 2010. http://www.theses.fr/2010ECLI0022/document.
The work presented in this memory concerns the control reconfiguration of dynamical systems with variation of operating modes in order to ensure the desired performances. For the control of dynamic systems, two approaches of accommodation have been proposed. The passive approach presents a controller with fixed parameters that doesn’t ensure the same performance for different operating modes and an active approach in which the controller settings can be updated according to the variation of the detected operating mode. Our work has therefore focused on this second approach based on multi-models system representation. The modelling errors corresponding to the variations of operating conditions are detected in this case by detection and localization algorithm, consequently, a reconfiguration strategy based on flatness-based switching control is proposed. This approach guarantees the control and the tracking of a reference trajectory. In fact, we have synthesised a discrete flatness-based multi-controllers associated for each operating model obtained from different operating points. Detection of operating modes is done by a residual generation by using Luenberger observers which gains are calculated using the LMI tool. Study of the stability as well as the use of anti-windup devices related to switching between controllers; have been considered in the proposed approach
Viel, Christophe. „Control law and state estimators design for multi-agent system with reduction of communications by event-triggered approach“. Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLS274/document.
A large amount of research work has been recently dedicated to the study of Multi-Agent System and cooperative control. Applications to mobile robots, like unmanned air vehicles (UAVs), satellites, or aircraft have been tackled to insure complex mission such as exploration or surveillance. However, cooperative tasking requires communication between agents, and for a large number of agents, the number of communication exchanges may lead to network saturation, increased delays or loss of transferred packets, from the interest in reducing them. In event-triggered strategy, a communication is broadcast when a condition, based on chosen parameters and some threshold, is fulfilled. The main difficulty consists in determining the communication triggering condition (CTC) that will ensure the completion of the task assigned to the MAS. In a distributed strategy, each agent maintains an estimate value of others agents state to replace missing information due to limited communication. This thesis focuses on the development of distributed control laws and estimators for multi-agent system to limit the number of communication by using event-triggered strategy in the presence of perturbation with two main topics, i.e. consensus and formation control. The first part addresses the problem of distributed event-triggered communications for consensus of a multi-agent system with both general linear dynamics and state perturbations. To decrease the amount of required communications, an accurate estimator of the agent states is introduced, coupled with an estimator of the estimation error, and adaptation of communication protocol. By taking into account the control input of the agents, the proposed estimator allows to obtain a consensus with fewer communications than those obtained by a reference method. The second part proposes a strategy to reduce the number of communications for displacement-based formation control while following a desired reference trajectory. Agent dynamics are described by Euler-Lagrange models with perturbations and uncertainties on the model parameters. Several estimator structures are proposed to rebuild missing information. The proposed distributed communication triggering condition accounts for inter-agent displacements and the relative discrepancy between actual and estimated agent states. A single a priori trajectory has to be evaluated to follow the desired path. Effect of state perturbations on the formation and on the communications is analyzed. Finally, the proposed methods have been adapted to consider packet dropouts and communication delays. For both types of problems, Lyapunov stability of the MAS has been developed and absence of Zeno behavior is studied
Arfaoui, Hassen. „Contrôle et stabilisation des équations de Saint-Venant“. Toulouse 3, 2006. http://www.theses.fr/2006TOU30150.
In this thesis, we study some problems of control and stabilization for the Saint-Venant system with viscosity, modeling a flow in a channel. The Dirichlet boundary control models the action of beaters at the boundary of the channel. We study the linearized Saint-Venant system about a stationary solution. We show that this linearized system is exponentially stable but is not null controlable. We look for a control law in a feedback form that is able to stabilize the perturbed linearized system with a maximum decrease rate. This maximum decrease rate is obtained by the extension method of Fursikov. To obtain a well-posed optimality system (defined either by using an algebraic Riccati equation, or by using a Hamiltonian system), we introduce an augmented state method which is not standard. These theoretical results on the linearized system are illustrated by several numerical tests on the linearized system and the nonlinear Saint-Venant system. For the numerical simulations of the Saint-Venant system, we use a splitting method: a Preissmann scheme for the transport part and an implicit Euler scheme for the diffusive part. The discrete matrix Riccati equation is defined using this system. The different numerical tests show the effectiveness of the feedback law applied to nonlinear system, even in the case of strong perturbations
Dong, Lin. „Assistance to laparoscopic surgery through comanipulation“. Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066305/document.
Traditional laparoscopic surgery brings advantages to patients but poses challenges to surgeons. The introduction of robots into surgical procedures overcomes some of the difficulties. In this work, we use the concept of comanipulation, where a 7-joint serial robotic arm serves as a comanipulator and generates force fields to assist surgeons.In order to implement functions like instrument gravity compensation, identifying real-time trocar position with respect to robot base is a prerequisite. Instead of obtaining trocar information from the registration step, we propose a robust trocar detection and localization algorithm based on least square method. Both in-vitro and in-vivo experiments validate its efficiency.Considering the characteristics of laparoscopic surgery, i.e., relatively large workspace and flexible operating objects, viscous fields are employed. To better adapt to different motion, we use a variable viscosity controller. However, this controller encounters an instability problem, which is analyzed both theoretically and experimentally. A solution of adding a first order low pass filter is proposed to slow down the variation of the viscosity coefficient, whose efficiency is evidenced by a point-to-point targeting experiment.With real-time trocar position known, the “lever model”, a formula describing therelationship of the velocities and forces of different instrument points, can be established. This allows implementing viscosity controller without using noisy signals at the center points of instrument handle and tip. Another point-to-point movement experiment is conducted to compare the features of the controller influence on human motion behaviors
Buchot, Jean-Marie. „Stabilisation et contrôle optimal des équations de Prandtl“. Toulouse, ENSAE, 2002. http://www.theses.fr/2002ESAE0003.
Scordia, Julien. „Approche systématique de l'optimisation du dimensionnement et de l'élaboration de lois de gestion d'énergie de véhicules hybrides“. Phd thesis, Université Henri Poincaré - Nancy I, 2004. http://tel.archives-ouvertes.fr/tel-00145236.
Le problème est d'utiliser de manière optimum par rapport à la consommation de carburant (et donc les émissions de CO2) l'énergie disponible dans la batterie. Cette optimisation est possible en utilisant au mieux les degrés de liberté de la chaîne de traction du véhicule (rapports de boîte par exemple), tout en satisfaisant la demande de puissance du conducteur.
Monsifrot, Jonathan. „Modélisation de signaux électromyographiques par des processus de renouvellement - Filtre bayésien pour l'estimation séquentielle de paramètres à destination de la commande d'une prothèse d'avant-bras“. Phd thesis, Université de Nantes, 2013. http://tel.archives-ouvertes.fr/tel-00921011.
Gaudenzi, de faria Marcelo. „Robust control for manipulation inside a scanning electron microscope“. Thesis, Besançon, 2016. http://www.theses.fr/2016BESA2068/document.
This work studies the nano-positioning problem inside the scanning electron microscope (SEM). To acquire fast and accurate positional information, a dedicated setup was implemented consisting of a vibrometer placed inside the SEM. This approach differs from methods based on image processing, as it allows to capture real-time data on the dynamic behavior of structures. In a first study, the mechanical disturbances acting inside the microscope’s vacuum chamber were characterized and its sources were identified. This demonstrated how external mechanical vibrations and acoustic noises can largely influence the components inside the SEM through mechanical coupling, limiting the effective positioning precision of manipulators. Next, a commercial micro-gripper was studied, both in air and in vacuum, and the differences between its response were highlighted. This allowed to obtain two dynamic models for this end-effector, one for each environment. Two control laws were proposed (H-infinity control and Extended State Observer based control) for the system, to obtain a real-time, precise positioning in the vacuum environment and to attenuate the effects of the external mechanical disturbances. Results were demonstrated through simulation and experimental validation
Vázquez, Guevara Víctor Hugo. „Asymptotical results for models ARX in adaptive tracking“. Thesis, Bordeaux 1, 2010. http://www.theses.fr/2010BOR14032/document.
This thesis is devoted to asymptotical results for ARX models in adaptive tracking. It is divided into four parts. The first part is a short introduction on ARMAX models together with a state of the art on the main results in the literature on adaptive tracking. The second part deals with a new concept of strong controllability for ARX models in adaptive tracking. This new notion allows us to extend the previous convergence results. We prove the almost sure convergence for both least squares and weighted least squares algorithms. We also establish a central limit theorem and a law of iterated logarithm for these two algorithms. The third part is dedicated to ARX models that are not strongly controllable. Thanks to a persistently excited adaptive tracking control, we show that it is possible to get rid of the strong controllability assumption. The fourth part deals with the asymptotic behaviour of the Durbin-Watson statistic for ARX models in adaptive tracking via a martingale approach
Rizzo, Audrey. „L'approche CRONE dans le domaine des architectures complexes des suspensions de véhicules automobiles : la suspension CRONE Hydractive“. Thesis, Bordeaux 1, 2012. http://www.theses.fr/2012BOR14564/document.
This thesis follows some previous work of the CRONE team applied to carsuspensions. It allows to purpose one car suspension, called CRONE car suspension, whichimproves the compromise between low frequency road filtering and car holding and thecompromise between hight frequency road filtering and wheel holding. To hold the wheel acriterium on the wheel holding is developed. This criterium can be used to analyse and tunedall kind of car suspension around the wheel pulsation. Moreover, to fight against thecompromise between the driver input and the raod input, a control laws is developed andapplied to a bi-state car suspension called hydractive car suspension. Finally, the influence ofthe car suspension tuning on the vehicle dynamic and more precisely on the ESP, ABSsystems is studied and illustrated with some first experiments
Brahimi, Nadia. „Identification optimale des paramètres d'un système dynamique régi par une équation différentielle stochastique linéaire commandée“. Phd thesis, 1985. http://tel.archives-ouvertes.fr/tel-00318780.
Girault, Alain. „Contributions à la conception sûre des systèmes embarqués sûrs“. Habilitation à diriger des recherches, 2006. http://tel.archives-ouvertes.fr/tel-00177048.