Дисертації з теми "Robust non-linear control"
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1
Petridis, Anthemios Philemon. "Non-linear robust control of S.I. engines." Thesis, University of Liverpool, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.399231.
2
Pechev, Alexandre Nikolov. "Robust linear and non-linear control of magnetically levitated systems." Thesis, Cardiff University, 2004. http://orca.cf.ac.uk/55944/.
Анотація:
The two most advanced applications of contactless magnetic levitation are high-speed magnetic bearings and magnetically levitated vehicles (Maglev) for ground transportation using superconducting magnets and controlled d.c. electromagnets. The repulsion force from superconducting magnets provide stable levitation with low damping, while the suspension force generated by electromagnets is inherently unstable. This instability, due to the in verse force-distance relationship, requires the addition of feedback controllers to sustain stable suspension. The problem of controlling magnetically levitated systems using d.c. electromagnets under different operating conditions has been studied in this thesis with a design process primarily driven by experimental results from a representative single-magnet test rig and a multi-magnet vehicle. The controller-design stages are presented in detail and close relationships have been constructed between selection of performance criteria for the derivation process and desired suspension characteristics. Both linear and nonlinear stabilising compensators have been developed. Simulation and experimental results have been studied in parallel to assess operational stability and the main emphasis has been given to assessing performance under different operational conditions. For the experimental work, a new digital signal processor-based hardware platform has been designed, built with interface to Matlab/Simulink. The controller design methods and algorithmic work presented in this thesis can be divided into: non-adaptive, adaptive, optimal linear and nonlinear. Adaptive algorithms based on model reference control have been developed to improve the performance of the suspension system in the presence of considerable variations in external payload and force disturbances. New design methods for Maglev suspension have been developed using robust control theory (%oo and fi synthesis). Single- and multi-magnet control problems have been treated using the same framework. A solution to the Hoo controller-optimisation problem has been derived and applied to Maglev control. The sensitivity to robustness has been discussed and tools for assessing the robustness of the closed-loop system in terms of sustaining stability and performance in the presence of uncertainties in the suspension model have been presented. Multivariable controllers based on %00 and /i synthesis have been developed for a laboratory scale experimental vehicle weighing 88 kg with four suspension magnets, and experimental results have been derived to show superiority of the proposed design methods in terms of ability to deal with external disturbances. The concept of Hoo control has been extended to the nonlinear setting using the concepts of energy and dissipativity, and nonlinear state-feedback and out put-feed back controllers for Maglev have been developed and reported. Simulation and experimental results have been presented to show the improved performance of these controllers to attenuate guideway-induced disturbances while maintaining acceptable suspension qualities and larger operational bandwidth.
3
Herrmann, Guido. "Discretization of non-linear controls with application to robust, sliding-mode-based control systems." Thesis, University of Leicester, 2000. http://hdl.handle.net/2381/30178.
Анотація:
This thesis deals with sampled-data implementations of continuous-time, non-linear control systems. The basis for the analysis is a static, continuous-time feedback law for non-linear, affine systems with bounded input gain. The sampled-data implementation is obtained from the discretization of the control via a sample-and-hold-process. With the incorporation of the aspect of robustness, a theoretical framework is created which supersedes previous work concentrating on stability. Bounding constraints for the closed-loop differential system allow uncertainty and disturbances to be considered. Other assumptions for the continuous-time control are Lipschitz continuity, exponential decay outside a compact set and existence of a Lyapunov function. The important parameter for the discretization analysis is the sampling time; fast sampling implies robust stability. The controller sampling residual, the difference between the discretized and the original control, is of key interest within a Lyapunov-type stability analysis; suitable norms, such as the Euler norm, are chosen to find upper bounds for the sampling residual. The generalization of a result from linear to non-linear sampled-data control permits the application of the Lp-norm. The theoretical framework is also suitable for dynamic control systems and the investigation of computational delays. The analysis approaches are demonstrated for two different robust control. strategies .based on sliding-mode approaches. A state-feedback sliding-mode-based control extends ideas for smoothing discontinuous sliding-mode control components by introducing a cone-shaped sliding-mode layer. A non-smooth Lyapunov function is used to prove stability of the discretized control. An observer-based tracking control improves a previous control scheme by considering a class of non-minimum phase and relative-degree-zero plants. Simulation and numerical fast-sampling analysis results are provided for all developed discretization and sliding-mode-based control techniques in application to non-trivial examples. The simulation of a highly non-linear, large-scale chemical plant for benzene production with non-minimum phase and relative-degree-zero characteristics proves the effectiveness of sliding-mode output control.
4
Torabi, Zahra. "Distributed non-cooperative robust economic predictive control for dynamically coupled linear systems." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022.
Анотація:
In this thesis, a tube-based Distributed Economic Predictive Control (DEPC) scheme is presented for a group of dynamically coupled linear subsystems. These subsystems are components of a large scale system and control inputs are computed based on optimizing a local economic objective. Each subsystem is interacting with its neighbors by sending its future reference
trajectory, at each sampling time. It solves a local optimization problem in parallel, based on the received future reference trajectories of the other subsystems. To ensure recursive feasibility and a performance bound, each subsystem is constrained to not deviate too much from its communicated
reference trajectory. This difference between the plan trajectory and the communicated one is interpreted as a disturbance on the local level. Then, to ensure the satisfaction of both state and input constraints, they are tightened by considering explicitly the effect of these local disturbances.
The proposed approach averages over all possible disturbances, handles tightened state and input constraints, while satisfies the compatibility constraints to guarantee that the actual trajectory lies within a certain bound in the neighborhood of the reference one. Each subsystem is optimizing a local arbitrary economic objective function in parallel while considering a local
terminal constraint to guarantee recursive feasibility. In this framework, economic performance guarantees for a tube-based
distributed predictive control (DPC) scheme are developed rigorously. It is presented that the closed-loop nominal subsystem has a robust average performance bound locally which is no worse than that of a local robust steady state. Since a robust algorithm is applying on the states of the real (with disturbances) subsystems, this bound can be interpreted as an average
performance result for the real closed-loop system.
To this end, we present our outcomes on local and global performance, illustrated by a numerical example.
5
O'Dea, Enda. "Robust control of non-linear 2D and linear 3D disturbances in channel flow by surface transpiration." Thesis, University of Southampton, 2004. https://eprints.soton.ac.uk/47092/.
Анотація:
The attenuation of perturbations in both periodic and non-periodic channel flow is attempted through wall-normal transcription and point wall-shear-stress measurements. The transcription is applied in both continuous harmonic form and a system based on discrete zero-net-mass-flux panel-pair form. For 2D flow it is demonstrated by means of a spectral Galerkin solver, that a simple classical controller with harmonic transpiration is capable of attenuating highly non-linear 2D perturbations. A multiple-input/multiple-output (MIMO) robust control scheme designed for the attenuation of perturbations in a non-periodic channel is applied to linear perturbations in the periodic setting. A certain set of linearly unstable modes in this periodic setting prove unstable for this control scheme. The significance of the last panel-pair in the scheme's failure in the presence of such modes is also demonstrated to continue to attenuate simple 2D perturbations in the presence of certain prescribed actuator/sensor faults. The identification of which faults are detrimental to the control demonstrates the importance of upstream actuators and downstream sensors respectively. Such observations may be useful in the design of fault tolerant control schemes. An ad-hoc extension of the 2D MIMO controller is applied to a 3D flow. A simple perturbation is initialised in the flow by an upstream panel pair
6
Costa, Giuseppe Electrical Engineering & Telecommunications Faculty of Engineering UNSW. "Robust Control For Gantry Cranes." Awarded by:University of New South Wales. Electrical Engineering and Telecommunications, 1999. http://handle.unsw.edu.au/1959.4/17609.
Анотація:
In this thesis a class of robust non-linear controllers for a gantry crane system are discussed. The gantry crane has three degrees of freedom, all of which are interrelated. These are the horizontal traverse of the cart, the vertical motion of the goods (i.e. rope length) and the swing angle made by the goods during the movement of the cart. The objective is to control all three degrees of freedom. This means achieving setpoint control for the cart and the rope length and cancellation of the swing oscillations. A mathematical model of the gantry crane system is developed using Lagrangian dynamics. In this thesis it is shown that a model of the gantry crane system can be represented as two sub models which are coupled by a term which includes the rope length as a parameter. The first system will consist of the cart and swing dynamics and the other system is the hoist dynamics. The mathematical model of these two systems will be derived independent of the other system. The model that is comprised of the two sub models is verified as an accurate model of a gantry crane system and it will be used to simulate the performance of the controllers using Matlab. For completeness a fully coupled mathematical model of the gantry crane system is also developed. A detailed design of a gain scheduled sliding mode controller is presented. This will guarantee the controller's robustness in the presence of uncertainties and bounded matched disturbances. This controller is developed to achieve cart setpoint and swing control while achieving rope length setpoint control. A non gain scheduled sliding mode controller is also developed to determine if the more complex gain scheduled sliding mode controller gives any significant improvement in performance. In the implementation of both sliding mode controllers, all system states must be available. In the real-time gantry crane system used in this thesis, the cart velocity and the swing angle velocity are not directly available from the system. They will be estimated using an alpha-beta state estimator. To overcome this limitation and provide a more practical solution an optimal output feedback model following controller is designed. It is demonstrated that by expressing the system and the model for which the system is to follow in a non-minimal state space representation, LQR techniques can be used to design the controller. This produces a dynamic controller that has a proper transfer function, and negates the need for the availability of all system states. This thesis presents an alternative method of solving the LQR problem by using a generic eigenvalue solution to solve the Riccati equation and thus determine the optimal feedback gains. In this thesis it is shown that by using a combination of sliding mode and H??? control techniques, a non-linear controller is achieved which is robust in the presence of a wide variety of uncertainties and disturbances. A supervisory controller is also described in this thesis. The supervisory control is made up of a feedforward and a feedback component. It is shown that the feedforward component is the crane operator's action, and the feedback component is a sliding mode controller which compensates as the system's output deviates from the desired trajectory because of the operator's inappropriate actions or external disturbances such as wind gusts and noise. All controllers are simulated using Matlab and implemented in real-time on a scale model of the gantry crane system using the program RTShell. The real-time results are compared against simulated results to determine the controller's performance in a real-time environment.
7
KOWTA, SRINIVAS. "ROBUST STABILITY ANALYSIS OF SERVO-HYDRAULIC SYSTEM IN PARAMETER SPACE." University of Cincinnati / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1060970575.
8
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.
Анотація:
Les récents progrès théoriques et le nombre croissant des applications industrielles de la commande floue lui permettent de prendre place à côté des théories classiques de commande. Cependant il reste à mettre en œuvre des stratégies de réglage automatique des différents paramètres intervenant dans la conception des régulateurs flous. Le travail présenté dans ce mémoire propose la possibilité de réaliser une loi de commande adaptative floue indirecte. Il consiste à modifier les gains d'un régulateur flou en fonction des résultats d'une identification d'un modèle linéaire pseudo-continu du système utilisant le formalisme de l'opérateur delta. Dans un premier temps, une méthode d'obtention des gains robustes optimaux du régulateur flou pour une classe de systèmes linéaires du premier et du second ordre est proposée. Une analyse statistique est effectuée sur l'ensemble des résultats de l'optimisation non linéaire et permet de mettre en évidence qu'il n'existe pas de relations générales liant les gains du régulateur flou à un ou plusieurs paramètres du système. Cette absence de relations marquées conduit à mettre en œuvre un modèle flou d'évolution des gains du régulateur en fonction des paramètres du système. L’approche envisagée est du type floue car elle permet au travers des règles linguistiques de conserver les relations locales mises en évidence par l'analyse statistique. Cette modélisation permet de mettre en œuvre un algorithme d'adaptation des gains du régulateur flou en fonction des paramètres dynamiques du système. La technique d'identification développée est basée sur la méthode des moindres carrés récursifs et l'utilisation du formalisme de l'opérateur delta. Enfin un superviseur central permet de piloter à la fois les modules d'identification et de commande en sélectionnant, soit un régulateur robuste à gains constants, soit un régulateur adaptatif pour améliorer les performances de la boucle fermée. Des essais en simulation et sur un procédé de régulation de niveau d'eau ont permis de valider l'approche.
9
Dos, Santos Paulino Ana Carolina. "Robust analysis of uncertain descriptor systems using non quadratic Lyapunov functions." Thesis, Strasbourg, 2018. http://www.theses.fr/2018STRAD049.
Анотація:
Les systèmes descripteurs incertains sont convenables pour la représentation des incertitudes d’un modèle, du comportement impulsif et des contraintes algébriques entre les variables d’état. Ils peuvent décrire bien plus de phénomènes qu’un système dynamique standard, mais, en conséquence, l’analyse des systèmes descripteurs incertains est aussi plus complexe. Des recherches sont menées de façon à réduire le degré de conservatisme dans l’analyse des systèmes descripteurs incertains. L’utilisation des fonctions de Lyapunov qui sont en mesure de générer des conditions nécessaires et suffisantes pour une telle évaluation y figurent. Les fonctions de Lyapunov polynomiales homogènes font partie de ces classes, mais elles n’ont jamais été employées pour les systèmes descripteurs incertains. Dans cette thèse, nous comblons ce vide dans la littérature en étendant l’usage des fonctions de Lyapunov polynomiales homogènes du cas incertain standard vers les systèmes descripteurs incertainsUncertain descriptor systems are a convenient framework for simultaneously representing uncertainties in a model, as well as impulsive behavior and algebraic constraints. This is far beyond what can be depicted by standard dynamic systems, but it also means that the analysis of uncertain descriptor systems is more complex than the standard case. Research has been conducted to reduce the degree of conservatism in the analysis of uncertain descriptor systems. This can be achieved by using classes of Lyapunov functions that are known to be able to provide necessary and sufficient conditions for this evaluation. Homogeneous polynomial Lyapunov functions constitute one of such classes, but they have never been employed in the context of uncertain descriptor systems. In this thesis, we fill in this scientific gap, extending the use of homogeneous polynomial Lyapunov functions from the standard uncertain case for the uncertain descriptor one
10
Maya, Gonzalez Martin. "Frequency domain analysis of feedback interconnections of stable systems." Thesis, University of Manchester, 2015. https://www.research.manchester.ac.uk/portal/en/theses/frequency-domain-analysis-of-feedback-interconnections-of-stable-systems(c6415a11-3417-48ba-9961-ecef80b08e0e).html.
Анотація:
The study of non-linear input-output maps can be summarized by three concepts: Gain, Positivity and Dissipativity. However, in order to make efficient use of these theorems it is necessary to use loop transformations and weightings, or so called ”multipliers”.The first problem this thesis studies is the feedback interconnection of a Linear Time Invariant system with a memoryless bounded and monotone non-linearity, or so called Absolute Stability problem, for which the test for stability is equivalent to show the existence of a Zames-Falb multiplier. The main advantage of this approach is that Zames–Falb multipliers can be specialized to recover important tools such as Circle criterion and the Popov criterion. Albeit Zames-Falb multipliers are an efficient way of describing non-linearities in frequency domain, the Fourier transform of the multiplier does not preserve the L1 norm. This problem has been addressed by two paradigms: mathematically complex multipliers with exact L1 norm and multipliers with mathematically tractable frequency domain properties but approximate L1 norm. However, this thesis exposes a third factor that leads to conservative results: causality of Zames-Falb multipliers. This thesis exposes the consequences of narrowing the search Zames-Falb multipliers to causal multipliers, and motivated by this argument, introduces an anticausal complementary method for the causal multiplier synthesis in [1].The second subject of this thesis is the feedback interconnection of two bounded systems. The interconnection of two arbitrary systems has been a well understood problem from the point of view of Dissipativity and Passivity. Nonetheless, frequency domain analysis is largely restricted for passive systems by the need of canonically factorizable multipliers, while Dissipativity mostly exploits constant multipliers. This thesis uses IQC to show the stability of the feedback interconnection of two non-linear systems by introducing an equivalent representation of the IQC Theorem, and then studies formally the conditions that the IQC multipliers need. The result of this analysis is then compared with Passivity and Dissipativity by a series of corollaries.
11
Sigthorsson, David O. "Control-Oriented Modeling and Output Feedback Control of Hypersonic Air-Breathing Vehicles." The Ohio State University, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=osu1228230786.
12
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.
Анотація:
Ce travail de thèse est consacré à l'extension de l'Inversion Dynamique non-linéaire (NDI-Nonlinear Dynamic Inversion) pour un ensemble plus grand de systèmes non-linéaires, tout en garantissant des conditions de stabilité suffisantes. La NDI a été étudiée dans le cas de diverses applications, y compris en aéronautique et en aérospatiale. Elle permet de calculer des lois de contrôle capables de linéariser et de découpler un modèle non-linéaire à tout point de fonctionnement de son enveloppe d'état. Cependant cette méthode est intrinsèquement non-robuste aux erreurs de modélisation et aux saturations en entrée. En outre, dans un contexte non-linéaire, l'obtention d'une garantie quantifiable du domaine de stabilité atteint reste à l'heure actuelle complexe. Contrairement aux approches classiques de la NDI, notre méthodologie peut être considérée comme un cadre de compensation non-linéaire généralisé qui permet d'intégrer les incertitudes et les saturations en entrée dans le processus de conception. En utilisant des stratégies de contrôle antiwindup, la loi de pilotage peut être calculée grâce à un simple processus en deux phases. Dans ce cadre de travail généralisé des transformations linéaires fractionnaires (LFT - Linear Fractional Transformations) de la boucle fermée non-linéaire peuvent être facilement déduites pour l'analyse de la stabilité robuste en utilisant des outils standards pour de systèmes linéaires. La méthode proposée est testée pour le pilotage d'un véhicule de rentrée atmosphérique de type aile delta lors de ses phases hypersonique, transsonique et subsonique. Pour cette thèse, un simulateur du vol incluant divers facteurs externes ainsi que des erreurs de modélisation a été développé dans SimulinkThis 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
13
Romero, Velázquez José Guadalupe. "Commande robuste par façonnement d’énergie de systèmes non-linéaires." Thesis, Paris 11, 2013. http://www.theses.fr/2013PA112019/document.
Анотація:
Cette thèse porte sur la conception de commandes robustes pour les systèmes non linéaires, mettant l'accent sur les systèmes mécaniques. Des résultats concluants sont présentés pour résoudre deux situations très abordées dans la théorie du contrôle : 1) La stabilité des systèmes non linéaires perturbés ; 2) Le suivi global de trajectoire dans les systèmes mécaniques en ayant seulement connaissance de la position. Nous avons commencé par donner une méthode de conception des commandes robustes pour assurer une régulation de sortie non passive. En outre, si le système est perturbé (pas appariés), des preuves rigoureuses pour les rejeter sont fournies. Ce résultat est principalement inspiré d'un changement de coordonnées et de l'action intégrale dynamique. Si le scénario à traiter concerne des systèmes mécaniques avec des perturbations variant dans le temps, nous dotons le système de propriétés comme IISS (Integral Input- State Stable) et ISS (Input-State Stable). Ce résultat est obtenu en modifiant la procédure de conception de manière à rejeter les perturbations constantes (pas appariés). Cependant, en raison de la non-linéarité du système, les commandes qui en résultent ont une grande complexité. Pour le même problème, un deuxième et élégant résultat est donné au cas où un changement préalable de variable (impulsions) est réalisé. Finalement, une réponse convaincante au problème de suivi de trajectoire pour les systèmes mécaniques est donnée en tenant compte uniquement des informations de position. Nous résolvons ce problème en deux étapes. Premièrement, quelques modifications sont apportées à la preuve de stabilité d'un observateur de vitesse basée sur la théorie de l'invariance et l’Immersion récemment publié. Notez que ceci est un observateur satisfaisant la convergence exponentielle de vitesse dans les systèmes mécaniques. Deuxièmement et sur la base du changement de coordonnées (impulsions), un contrôleur de suivi avec stabilité exponentielle, tenant compte de la position et de la vitesse, est proposé. De telle sorte qu'avec la combinaison des deux résultats, le suivi de trajectoire exponentielle avec retour de position est donnéThis thesis focuses on the design of robust control for nonlinear systems, mainly on mechanical systems. The results presented are to two situations widely discussed in control theory: 1) The stability of nonlinear systems disturbed; 2) The global tracking trajectory in mechanical systems having only knowledge of the position. We started giving a design method of robust controls to ensure regulation on non-passive output. In addition, if the system is perturbed (constant unmatched), rigorous proof to its rejection is provided. This result is based mainly on change of coordinates and integral dynamic control. When the scenario to deal are mechanical systems with time-varying matched and unmatched, disturbance, the system is endowed with strong properties as IISS (Integral Input-State Stable) and ISS (Input-State Stable). This is achieved based on the design method to rejection of constant disturbances (unmatched). However, due to the nonlinearity of the system, the controllers have a high complexity. For the same problem, a second and elegant result is given making a initial change of coordinate on the momenta variable, such that the controller significantly simplifies, preserving the aforementioned robustness properties. Finally, a convincing answer to the problem of global exponential tracking of mechanical systems is given taking into account only the position information. We solve this problem in two steps. First, some slight variation is presented to the proof of stability of a speed observer based on Immersion and Invariance theory recently published. Note that this is a speed observer satisfying the exponential convergence speed in mechanical systems. Secondly, and based on the change of coordinates (momenta), a globally exponentially stable tracking controller with position and velocity known is proposed. The combination of both results give the first global exponential tracking controller of mechanical systems without velocity measurements
14
Monge, Thierry. "Modélisation et commande multivariable non linéaire robuste des réacteurs chimiques discontinus - application à un procédé industriel." Rouen, 1996. http://www.theses.fr/1996ROUES069.
Анотація:
Le présent travail concerne, dans une première partie, la modélisation d'un réacteur chimique semi-continu industriel, celle-ci étant ensuite appliquée à la commande multivariable non linéaire. Les bilans instantanés de matière et d'énergie ont d'abord été établis. Une méthodologie a été mise au point pour décrire le système réactionnel correspondant, ceci à l'aide d'une approche hybride molécules/groupements fonctionnels. L'étude de stabilité menée sur le procédé en a montré le caractère instable. A l'aide d'un certain nombre d'expériences, les paramètres cinétiques des réactions principales de la synthèse étudiée ont pu, à l'aide de méthodes spécifiques, être estimés par le logiciel Simulbatch® précédemment développé. Avec ces données, le logiciel est ensuite capable de reproduire correctement l'évolution dynamique des températures et des concentrations du milieu réactionnel. Le modèle a été validé pour des chauffages-refroidissements d'inertes ainsi qu'avec différents systèmes réactionnels. L'intégration en temps réel d'un système d'équations différentielles représentatives du procédé, recalé en ligne, permet d'effectuer une linéarisation et un découplage dynamique par rebouclage du système à réguler. Ce nouveau système est alors régulé par une technique de commande prédictive robuste. Cette approche feedforward/feedback permet de prendre en compte l'instationnarité et les non linéarités inhérentes à ce type de procédé. Le module de commande et de communication a été écrit en C++ dans l'environnement Windows™, ce qui a permis de développer un outil convivial pour l'utilisateur et pour le programmeur et a donné lieu au logiciel Sisobatch®. L'association de ce module à Simulbatch® a donné lieu au logiciel de commande de réacteurs chimiques discontinus, Commandbatch®
15
Al, Attar Houssein. "Bidirectional Electric Vehicle Charger Control." Thesis, Ecole centrale de Nantes, 2022. http://www.theses.fr/2022ECDN0043.
Анотація:
Dans cette thèse inscrite dans le cadre de la chaire Renault-Centrale Nantes, l’objectif est de concevoir des stratégies de contrôle pour améliorer les performances et le rendement du chargeur réversible du Véhicule Electrique (VE). Dans le mode décharge, le nouveau défi consiste à concevoir une stratégie de Modulation par Décalage de Phase (MDP) pour améliorer la zone de fonctionnement et le rendement du convertisseur DC-DC. La loi de commande est basée sur l’inversion de gain du convertisseur DC-DC LLC. Du point de vue coût, la contribution porte essentiellement sur la conception d’une stratégie d’optimisation pour diminuer le dimensionnement du convertisseur DC-DC LLC mais aussi d’améliorer les performances de la stratégie de Modulation par Fréquence d’Impulsion (MFI). Ensuite, un développement d’un modèle grand signal du convertisseur LLC basé sur la stratégie MDP est élaboré. La contribution principale consiste à implémenter des stratégies du contrôle robuste, telles que la commande sans modèle et la commande adaptive super twisting, combinées avec la stratégie MDP. D’autre part, l’apport principal conduit à fournir une stratégie de contrôle hybride du chargeur afin de réguler la tension du bus DC dans les zones de saturation du convertisseur DC-DC. Enfin, une nouvelle topologie d’un chargeur VE avec la structure DAB est étudiée. Une stratégie de contrôle en cascade est proposée pour régler le bus DC et le courant réseau. Différentes stratégies de modulation, telles que les modulations par décalage d’un ou de deux déphasages, sont étudiées. Des résultats de simulation de modèles de chargeurs réels sont présentés afin de mettre en évidence l’efficacité des stratégies de contrôle proposéesIn this thesis, part of the chair Renault/Centrale Nantes, the aim is to design control strategies to improve the performance and efficiency of the bidirectional charger of the Electric Vehicle (EV). In the discharging mode, the new challenge is to design a Phase Shift Modulation (PSM) strategy to improve the operating zone and efficiency of the DC-DC converter. The control law is based on the DC-DC LLC gaininversion. In terms of cost, the contribution is mainly about the design of an optimization strategy, not only to reduce the sizing of the DC-DC LLC converter, but also to improve the performance of the Pulse Frequency Modulation (PFM) strategy. Then, a large signal model of the LLC converter based on the PSM strategy is developed. The main contribution consists of implementing robust control strategies, such as model-free control and adaptive super twisting control, combined with the PSM strategy. On the other hand, the key contribution leads to provide a hybrid control strategy of the charger in order to be able to regulate the DC bus voltage in the saturation zones of the DC-DCconverter. Finally, a new topology of an EV charger with the DAB structure is studied. A backstepping control strategy is proposed to regulate the DC bus voltage and the grid current. Different modulation strategies, such as single and dual phase shift modulation,are studied. Simulation results of real charger models are presented in order to highlight the effectiveness of the proposed control strategies
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Snoun, Cherif. "Contrôle passif des vibrations des systèmes mécaniques à l’aide d’absorbeurs dynamiques non linéaires avec prise en compte des incertitudes." Thesis, Tours, 2020. http://www.theses.fr/2020TOUR4001.
Анотація:
Face à l’augmentation des exigences à la fois économiques et de santé publique, les industriels sont dans la nécessité de concevoir des systèmes mécaniques de plus en plus performants et respectant un certain niveau de confort acoustique. En mécanique ou en acoustique, le contrôle de vibrations est un champ de recherche très actif. Trois grands types de technologie sont majoritairement utilisées dans l’industrie : le contrôle passif par dissipation, le contrôle passif à l’aide d’absorbeurs linéaires accordées et le contrôle actif, chacune de ses techniques possédant ses avantages et ses inconvénients. Depuis une quinzaine d’années, l’utilisation d’absorbeurs non linéaires de type NES (« Nonlinear Energy Sink » en anglais), typiquement un système masse-ressort-amortisseur à raideur purement non linéaire, a montré son efficacité comme solution alternative de contrôle passif des vibrations en conciliant les avantages des technologies existantes. Cependant, le comportement dynamique du système couplé constitué du NES et du système primaire à protéger peut s’avérer très sensible aux paramètres qui admettent une dispersion importante. Notamment, lorsqu’il s’agit d’atténuer une instabilité dynamique (comme c’est le cas dans cette thèse) une discontinuité dans le profil de l’amplitude vibratoire du système peut s’observer, ce dernier passant brutalement d’un régime atténué (où le NES agit) à un régime non atténué (où le NES n’agit pas). Un régime non atténué étant potentiellement dangereux, il est important d’être en mesure, en prenant en compte les incertitudes paramétriques auxquelles le système primaire peut être confronté, de concevoir un NES qui soit robuste, c’est-à-dire fonctionnant au maximum dans l’espace des paramètres incertains correspondant à des régimes non atténués du système primaire.Dans la première partie, des méthodes basées sur le formalisme du chaos polynomial sont proposées pour la localisation, dans l’espace des paramètres incertains du système primaire, de la frontière entre la région correspondant aux régimes atténués et celle correspondant aux régimes non atténués, permettant ainsi le calcul de la propension du système couplé à être dans un régime atténué. Ces méthodes sont ensuite appliquées aux cas d’un système frottant à deux degrés de liberté (le modèle dit de Hultèn) couplé à deux NES identiques. Les résultats montrent d’une part que les méthodes basées sur le chaos polynomial permettent de réduire significativement le cout de calcul par rapport à la méthode de référence en conservant une bonne précision et d’autre part que la méthode basée sur le chaos polynomial multi-éléments (appelée méthode ME-gPC) est la plus efficace.Dans la deuxième partie, une méthodologie d'optimisation des NES sous incertitudes est développée. Deux approches sont proposées, à chaque fois basées sur la maximisation, sous incertitudes des paramètres du système primaire, de la propension du système couplé à être dans un régime atténué. La première approche considère que les paramètre des NES sont déterministes et sont donc les variables de conception à optimiser. La seconde méthode considère que les paramètres des NES sont également incertains mais avec une loi de probabilité connue. Ainsi, les variables de conception à optimiser ne sont plus directement les paramètres des NES mais l’une de leurs statistiques (la moyenne ou l’écart-type par exemple) appelées hyper-paramètres. Les résultats obtenus sont comparés à une optimisation déterministe de référence. L’efficacité des méthodes proposée, basées sur le chaos polynomial, à réduire significativement le cout de calcul en gardant une bonne précision est mise en évidenceFaced with increasing economic and public health requirements, industrialists are faced with the need to design increasingly efficient mechanical systems that respect a certain level of acoustic comfort. In mechanics or acoustics, vibration control is a very active field of research. Three main types of technology are mainly used in industry: passive control by dissipation, passive control using tuned linear absorbers and active control, each of these techniques having its advantages and disadvantages. Over the past 15 years, the use of NES (Nonlinear Energy Sink) non-linear absorbers, typically a purely non-linear stiffness mass-spring-damper system, has proven its effectiveness as an alternative solution for passive vibration control by combining the advantages of existing technologies. However, the dynamic behaviour of the coupled system consisting of the NES and the primary system to be protected can be very sensitive to parameters that allow for high dispersion. In particular, when attenuating dynamic instability (as is the case in this thesis) a discontinuity in the vibration amplitude profile of the system can be observed, as the system suddenly switches from an attenuated regime (where the NES acts) to an unattenuated regime (where the NES does not act). Since an unattenuated regime is potentially dangerous, it is important to be able, taking into account the parameter uncertainties that the primary system may face, to design an NES that is robust, i.e. operating at maximum within the space of the uncertain parameters corresponding to unattenuated regimes of the primary system.In the first part, methods based on the formalism of polynomial chaos are proposed for locating, in the space of the uncertain parameters of the primary system, the boundary between the region corresponding to attenuated regimes and that corresponding to non-attenuated regimes, thus allowing the calculation of the propensity of the coupled system to be in an attenuated regime. These methods are then applied to the cases of a two-degree-of-freedom friction system (the so-called Hultèn model) coupled to two identical NES. The results show, on the one hand, that the methods based on polynomial chaos allow a significant reduction of the calculation cost compared to the reference method while maintaining a good accuracy and, on the other hand, that the method based on multi-element polynomial chaos (called ME-gPC method) is the most efficient.In the second part, a methodology for optimizing NES under uncertainty is developed. Two approaches are proposed, each based on maximizing, under uncertainties of the primary system parameters, the propensity of the coupled system to be in a mitigated regime. The first approach considers that the SNF parameters are deterministic and are therefore the design variables to be optimized. The second approach considers that the SEL parameters are also uncertain but with a known probability distribution. Thus, the design variables to be optimized are no longer directly the parameters of the NES but one of their statistics (the mean or the standard deviation for example) called hyper-parameters. The results obtained are compared with a reference deterministic optimization. The effectiveness of the proposed methods, based on polynomial chaos, to significantly reduce the cost of calculation while maintaining good precision is highlighted
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N'Doye, Ibrahima. "Généralisation du lemme de Gronwall-Bellman pour la stabilisation des systèmes fractionnaires." Phd thesis, Université Henri Poincaré - Nancy I, 2011. http://tel.archives-ouvertes.fr/tel-00584402.
Анотація:
Dans ce mémoire, nous avons proposé une méthode basée sur l'utilisation de la généralisation du lemme de Gronwall-Bellman pour garantir des conditions suffisantes de stabilisation asymptotique pour une classe de systèmes non linéaires fractionnaires. Nous avons étendu ces résultats dans la stabilisation asymptotique des systèmes non linéaires singuliers fractionnaires et proposé des conditions suffisantes de stabilité asymptotique de l'erreur d'observation dans le cas de l'étude des observateurs pour les systèmes non linéaires fractionnaires et singuliers fractionnaires. Pour les systèmes non linéaires à dérivée d'ordre entier, nous avons proposé par l'application de la généralisation du lemme de Gronwall-Bellman des conditions suffisantes pour : - la stabilisation exponentielle par retour d'état statique et par retour de sortie statique, - la stabilisation exponentielle robuste en présence d'incertitudes paramétriques, - la commande basée sur un observateur. Nous avons étudié la stabilisation des systèmes linéaires fractionnaires avec les lois de commande suivantes~: retour d'état statique, retour de sortie statique et retour de sortie basé sur un observateur. Puis, nous avons proposé des conditions suffisantes de stabilisation lorsque le système linéaire fractionnaire est affecté par des incertitudes non linéaires paramétriques. Enfin, nous avons traité la synthèse d'un observateur pour ces systèmes. Les résultats proposés pour les systèmes linéaires fractionnaires ont été étendus au cas où ces systèmes fractionnaires sont singuliers. La technique de stabilisation basée sur l'utilisation de la généralisation du lemme de Gronwall-Bellman est étendue aux systèmes non linéaires fractionnaires et aux systèmes non linéaires singuliers fractionnaires. Des conditions suffisantes de stabilisation asymptotique, de stabilisation asymptotique robuste et de commande basée sur un observateur ont été obtenues pour les classes de systèmes non linéaires fractionnaires et non linéaires singuliers fractionnaires. Par ailleurs, une méthode de synthèse d'observateurs pour ces systèmes non linéaires fractionnaires et non linéaires singuliers fractionnaires est proposée. Cette approche est basée sur la résolution d'un système d'équations de Sylvester. L'avantage de cette méthode est que, d'une part, l'erreur d'observation ne dépend pas explicitement de l'état et de la commande du système et, d'autre part, qu'elle unifie la synthèse d'observateurs de différents ordres (observateurs d'ordre réduit, d'ordre plein et d'ordre minimal).
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Sarmanho, Junior Carlos Arthur Carvalho. "Desenvolvimento de um robô pneumático de 5 graus de liberdade com controlador não linear com compensação de atrito." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2014. http://hdl.handle.net/10183/110046.
Анотація:
Esta tese de doutorado trata do desenvolvimento de um robô cilíndrico com cinco graus de liberdade acionado pneumaticamente. Devido às dificuldades de controle ocasionadas pelas altas não-linearidades intrínsecas à tecnologia pneumática, relacionadas principalmente à compressibilidade do ar e ao atrito, existem poucos robôs com esse tipo de acionamento. Seu estudo justifica-se, porém, pela aplicabilidade de sistemas pneumáticos em ambientes classificados ou que necessitem de tecnologia limpa, além de possibilidades de aplicação, devido à sua alta resiliência, em atividades que exijam proximidade ou contato com seres humanos ou outros robôs. Além disso, a possibilidade de obtenção de sistemas pneumáticos a custos reduzidos pode viabilizar sua aplicação para realização de operações de manipulação de objetos de pequeno porte em ambiente fabril, principalmente em situações de insalubridade ou em casos de necessidade de realização de tarefas repetitivas. O estudo contempla a proposição e aplicação de uma técnica de controle não linear baseada na conhecida lei do Torque Calculado, largamente aplicada ao controle de robôs manipuladores, diferenciando-se da sua estrutura tradicional pelo acréscimo de um esquema para compensação explícita do atrito aplicado aos cinco subsistemas de atuação. É demonstrado através dos resultados de simulações e de experimentos realizados em um protótipo projetado e construído no âmbito do presente trabalho, que, devido às características construtivas dos atuadores, a compensação explícita do atrito é de grande importância para a obtenção de resultados adequados na tarefa de seguimento de trajetória. Os resultados da aplicação do controlador proposto, operando em regime de seguimento de uma trajetória contínua, indicam que a estratégia de controle do Torque Calculado, em conjunto com o esquema de compensação do atrito, leva o sistema a uma redução dos erros de seguimento de trajetória em posição.This thesis presents the development of a cylindrical robot with five degrees of freedom pneumatically actuated. Because of the difficulties in control tasks caused by intrinsic high nonlinear behavior of this technology, mainly related to the air compressibility and friction, exist only few robots with this actuation technology. This study is justified by the applicability of pneumatic systems in classified rooms or environments that need clean technology that due to resilience allows the applications that require, close proximity or contact with humans or other robots. Moreover, the possibility of obtaining pneumatic systems at reduced costs can make possible its application for accomplishment of manipulation of small objects in industrial environment, especially in situations of unhealthy work or in cases that need to perform repetitive operations. This study include the proposition and application of a nonlinear control technique based of widely known law of Torque Calculated, extensively applied on control of the manipulator robots, differentiating itself from its traditional structure by the addition of an explicit scheme for friction compensation, applied to the five actuators of the robot. It is demonstrated by results of simulations and experiments on the robot prototype designed and built, as part of this work, which, due to the constructive characteristics of the actuators, the explicit compensation of friction is very important to achieve appropriate results in a task of trajectory tracking. The results of application of the proposed controller, operating under continuous trajectory tracking indicate that the control strategy of Torque Calculated together with the friction compensation scheme leads the system to a reduction of the position tracking errors.
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Mohamed, Ramadan Haitham Saad. "Non-linear control and stabilization of VSC-HVDC transmission systems." Thesis, Paris 11, 2012. http://www.theses.fr/2012PA112046/document.
Анотація:
L'intégration des liaisons à courant continu dans les systèmes électriques permet d’accroitre les possibilités de pilotage des réseaux, ce qui permet d’en améliorer la sûreté et de raccorder de nouveaux moyens de production. Pour cela la technologie VSC-HVDC est de plus en plus plébiscitée pour interconnecter des réseaux non synchrones, raccorder des parcs éoliens offshore, ou contrôler le flux d’énergie notamment sur des longues distances au travers de liaisons sous-marines (liaison NorNed). Les travaux de cette thèse portent sur la modélisation, la commande non-linéaire et la stabilisation des systèmes VSC–HVDC, avec deux axes de travail. Le premier se focalise sur la conception et la synthèse des lois de commandes non-linéaires avancées basées sur des systèmes de structures variables (VSS). Ainsi, les commandes par modes glissants (SMC) et le suivi asymptotique de trajectoire des sorties (AOT) ont été proposées afin d’assurer un degré désiré de stabilité en utilisant des fonctions de Lyapunov convenables. Ensuite, la robustesse de ces commandes face à des perturbations et/ou incertitudes paramétriques a été étudiée. Le compromis nécessaire entre la robustesse et le comportement dynamique requis dépend du choix approprié des gains. Ces approches robustes, qui sont facile à mettre en œuvre, ont été appliquées avec succès afin d’atteindre des performances dynamiques élevées et un niveau raisonnable de stabilité vis-à-vis des diverses conditions anormales de fonctionnement, pour des longueurs différentes de liaison DC. Le deuxième vise à étudier l’influence de la commande du convertisseur VSC-HVDC sur l'amélioration de la performance dynamique du réseau de courant alternatif en cas d’oscillations. Après une modélisation analytique d’un système de référence constitué d’un groupe connecté à un convertisseur VSC-HVDC via un transformateur et une ligne, un contrôleur conventionnel simple PI est appliqué au niveau du convertisseur du système pour agir sur les oscillations rotoriques de la machine synchrone. Cette commande classique garantie une amélioration acceptable des performances dynamiques du système; surtout pour l'amortissement des oscillations de l'angle de puissance de la machine synchrone lors de défautsThe integration of nonlinear VSC-HVDC transmission systems in power grids becomes very important for environmental, technical, and economic reasons. These systems have enabled the interconnection of asynchronous networks, the connection of offshore wind farms, and the control of power flow especially for long distances. This thesis aims the non-linear control and stabilization of VSC-HVDC systems, with two main themes. The first theme focuses on the design and synthesis of nonlinear control laws based on Variable Structure Systems (VSS) for VSC-HVDC systems. Thus, the Sliding Mode Control (SMC) and the Asymptotic Output Tracking (AOT) have been proposed to provide an adequate degree of stability via suitable Lyapunov functions. Then, the robustness of these commands has been studied in presence of parameter uncertainties and/or disturbances. The compromise between controller’s robustness and the system’s dynamic behavior depends on the gain settings. These control approaches, which are robust and can be easily implemented, have been applied to enhance the system dynamic performance and stability level in presence of different abnormal conditions for different DC link lengths. The second theme concerns the influence of VSC-HVDC control on improving the AC network dynamic performance during transients. After modeling the Single Machine via VSC-HVDC system in which the detailed synchronous generator model is considered, the conventional PI controller is applied to the converter side to act on damping the synchronous machine power angle oscillations. This simple control guarantees the reinforcement of the system dynamic performance and the power angle oscillations damping of the synchronous machine in presence of faults
20
Nigrowsky, Pierre. "Variable structure control of robot manipulators (the example of the SPRINTA)." Thesis, Brunel University, 2000. http://bura.brunel.ac.uk/handle/2438/4827.
Анотація:
The subject of this thesis is the design and practical application of a model-based controller with variable structure control (VSC). Robot manipulators are highly non-linear systems, however they form a specific class in the non-linear group. Exact mathematical descriptions of the robot dynamics can be achieved and further, robot manipulators have specific useful properties that can be used for the design of advanced controllers. The inclusion of the inverse dynamic description of the robot manipulator as a feedforward term of the controller (model-based controller) is used to transform two non-linear systems i.e. the controller and the robot, into one linear system. The limitation of this technique arises from the accuracy of the inverse dynamic model. The linearisation only takes place if the model is known exactly. To deal with the uncertainties that arise in the model, a control methodology based on variable structure control is proposed. The design of the controller is based on a Lyapunov approach and engineering considerations of the robot. A candidate Lyapunov function of a pseudo-energy form is selected to start the controller design. The general form of the controller is selected to satisfy the negative definiteness of the Lyapunov function. The initial uncertainties between the actual robot dynamics and the model used in the controller are dealt with using a classical VSC regulator. The deficiencies of this approach are evident however because of the chattering phenomenum. The model uncertainties are examined from an engineering point of view and adjustable bounds are then devised for the VSC regulator, and simulations confirm a reduction in the chattering. Implementation on the SPRINTA robot reveals further limitations in the proposed methodology and the bound adjustment is enhanced to take into account the position of the robot and the tracking errors. Two controllers based on the same principle are then obtained and their performances are compared to a PID controller, for three types of trajectory. Tests reveal the superiority of the devised control methodology over the classic PID controller. The devised controller demonstrates that the inclusion of the robot dynamics and properties in the controller design with adequate engineering considerations lead to improved robot responses.
21
Novaes, Carlos Eduardo de Brito. "Modelagem e controle de marcha de robôs bípedes com disco de inércia." Universidade de São Paulo, 2016. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-28062016-073223/.
Анотація:
Esta tese trata de um robô bípede em caminhar dinâmico. Neste robô, que normalmente é um sistema sub-atuado, fazemos uso de um disco de inércia que funciona num certo sentido como um atuador adicional. Através deste disco, obtém-se mais liberdade para a elaboração de passos repetitivos e um aumento na robustez. Por outro lado, o sistema de controle dos passos deve controlar, além do passo propriamente dito, também a velocidade do disco, de modo que não sejam saturados os atuadores (motores elétricos). Apresentamos então um controlador capaz de realizar estas ações simultaneamente.This Thesis is about a bipedal robot in a dynamic walking gait. In this robot, which is usually a under-actuated system, a inertial wheel is employed and acts as an additional actuator. By using this wheel, one can design a cyclic walking gait with increased robustness and with more freedom. On the other hand, the control system must take care of the step itself, and also must ensure that the wheel speed does not exceed the actuators (motors) limits. We present a controller able to perform this tasks.
22
Jäntsch, Michael [Verfasser], Alois [Akademischer Betreuer] Knoll, and Guido [Akademischer Betreuer] Herrmann. "Non-Linear Control Strategies for Musculoskeletal Robots / Michael Jäntsch. Gutachter: Guido Herrmann ; Alois Knoll. Betreuer: Alois Knoll." München : Universitätsbibliothek der TU München, 2014. http://d-nb.info/1050025814/34.
23
Gandhi, Yogesh. "Motion planning and control for Differential Drive Wheel Mobile Robot (DDWMR)." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017.
Анотація:
This thesis proposes algorithms for motion planning to navigate robot in cluttered environment and a robust velocity-based tracking controller for Differential Drive Wheel Mobile Robot (DDWMR).
First, the thesis presents, an offline A* path planning algorithm is used to find sequence of optimal waypoints in a two-dimensional occupancy grid also taking in account obstacle avoidance minimum distance criteria and using these waypoints, reference trajectory is generated based on the constraints on DDWMR.
Second, the design of online non-linear back-stepping tracking controller for DDWMR, based on PSO algorithm in the selection of optimal controller gains.
24
Wang, Jiexin. "Policy Hyperparameter Exploration for Behavioral Learning of Smartphone Robots." 京都大学 (Kyoto University), 2017. http://hdl.handle.net/2433/225744.
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Bouteraa, Yassine. "Commande distribuée et synchronisation de robots industriels coopératifs." Thesis, Orléans, 2012. http://www.theses.fr/2012ORLE2082/document.
Анотація:
Cette thèse développe les lois de coordination de systèmes de Lagrange. Elle propose en premier lieu une stratégie complètement décentralisée qui se base sur la technique de cross-coupling pour la commande d'un groupe de robots, appelé réseau, qui synchronisent leurs mouvements en suivant une trajectoire désirée. Cette stratégie est étendue pour faire face à l'incertitude paramétrique des robots ainsi qu’aux retards fréquemment rencontrés dans les applications pratiques de réseaux de communication. Une deuxième architecture basée sur la théorie des graphes est proposée pour les réseaux à leader. L'approche développée est considérée hybride. Une extension adaptative à base de réseaux de neurones est développée pour traiter les cas d'incertitude paramétrique. La stratégie conçue prend en considération les délais dans la réception des données. En se basant sur la notion de système en chaîne, la théorie des graphes, le concept de la passivité et la technique du backstepping, une nouvelle méthodologie de la conception de contrôleur de synchronisation pour une classe de systèmes sous-actionnés est développée. Afin d’avoir la possibilité d’implémenter ces stratégies de contrôle, on a développé une plate-forme d'expérimentation pour la robotique industrielle coopérativeThis thesis investigates the issue of designing decentralized control laws to cooperatively control a team of robot manipulators. The purpose is to synchronize their movements while tracking common desired trajectory. Based on a combination of Lyapunov direct method and cross-coupling technique, To account for unmatched uncertainties, the proposed decentralized control laws are extended to an adaptive synchronization tracking controllers. Moreover, due to communication imperfection, time delay communication problems are considered in the performance analysis of the controllers. Another relevant problem for distributed synchronized systems is the leader-follower control problem. In this strategy, a decentralized control laws based on the backstepping scheme is proposed to deal with a leader-follower multiple robots structure. Based on graph theory, the coordination strategy combines the leader follower control with the decentralized control. The thesis, also considers the cooperative movement of under- actuated manipulators tracking reference trajectories defined by the user. The control problem for a network of class of under-actuated systems is considered. The approach we adopted in this thesis consists in decomposing the under-actuated manipulators into a cascade of passive subsystems that synchronize with he other neighbors subsystems. The resulting synchronized control law is basically a combination of non-regular backstepping procedure aided with some concepts from graph theory. The proposed controllers are validated numerically, assuming that the underlying communication graph is strongly connected. To implement these control strategies, we developed an experimental platform made of three robot manipulators
26
Krupiński, Szymon. "Suivi des structures offshore par commande référencée vision et multi-capteurs." Thesis, Nice, 2014. http://www.theses.fr/2014NICE4051.
Анотація:
Cette thèse vise à rendre possible l’utilisation des véhicules sous-marins autonomes (AUVs) dans l’inspection visuelle des structures offshore. Deux tâches sont identifiées: le suivi des structures rectilignes et la stabilisation devant les cibles planaires. Les AUVs complétement actionnés et équipés d'une centrale inertielle, un DVL, un altimètre et une caméra vidéo sont visés. La dynamique en 6 d.d.l. d'un AUV est rappelée. L'architecture de contrôle reflétant la structure en cascade de la dynamique est choisie. Une boucle interne asservie la vitesse du véhicule à la consigne et une boucle externe calcule la vitesse de référence à partir des informations visuelles. Le suivi de pipe est assuré par l'asservissement visuel 2D qui calcule la vitesse de référence à partir des bords du pipeline détectés dans l’image. La convergence globale asymptotique et localement exponentielle de la position, de l’orientation et de la vitesse sont obtenues. Le contrôleur de stabilisation utilise la matrice d’homographie. Seule la connaissance imprécise de l’orientation de la cible est nécessaire. L’information cartésienne de la profondeur de la cible est estimée à l’aide d’un observateur. La convergence quasi-globale et localement exponentielle de ce contrôleur est démontrée. Afin de tester ces méthodes un simulateur a été développé. Des images de synthèse de haute-fidélité sont générées à partir de simulateur Morse. Elles sont traitées en temps réel à l’aide de la bibliothèque OpenCV. Un modèle Simulink calcule la dynamique complète des 6 d.d.l. du véhicule simulé. Des résultats détaillés sont présentés et mettent en avant les résultats théoriques obtenusThis thesis deals with a control system for a underwater autonomous vehicle given a two consequent tasks: following a linear object and stabilisation with respect to a planar target using an on-board camera. The proposed solution of this control problem takes advantage of a cascading nature of the system and divides it into a velocity pilot control and two visual servoing schemes. The serving controllers generate the reference velocity on the basis of visual information; line following is based on binormalized Pluecker coordinates of parallel lines corresponding to the pipe contours detected in the image, while the stabilisation relies on the planar homography matrix of observed object features, w.r.t. the image of the same object observed at the desired pose. The pilot, constructed on the full 6 d.o.f. nonlinear model of the AUV, assures that the vehicle’s linear and angular velocities converge to their respective setpoints. Both image servoing schemes are based on minimal assumptions and knowledge of the environment. Validation is provided by a high-fidelity 6 d.o.f. dynamics simulation coupled with a challenging 3D visual environment, which generates images for automatic processing and visual servoing. A custom simulator is built that consist of a Simulink model for dynamics simulation and the MORSE robot and sensor simulator, bound together by ROS message passing libraries. The OpenCV library is used for real-time image processing. Methods of visual data filtering are described. Thus generated experimental data is provided that confirms the desired properties of the control scheme presented earlier
27
Staub, Nicolas. "Models, algorithms and architectures for cooperative manipulation with aerial and ground robots." Thesis, Toulouse 3, 2018. http://www.theses.fr/2018TOU30169/document.
Анотація:
Les dernières années ont vu le développement de recherches portant sur l'interaction physique entre les robots aériens et leur environnement, accompagné de l'apparition de nombreux nouveaux systèmes mécaniques et approches de régulation. La communauté centrée autour de la robotique aérienne observe actuellement un déplacement de paradigmes des approches classiques de guidage, de navigation et de régulation vers des tâches moins triviales, telle le développement de l'interaction physique entre robots aériens et leur environnement. Ceci correspond à une extension des tâches dites de manipulation, du sol vers les airs. Cette thèse contribue au domaine de la manipulation aérienne en proposant un nouveau concept appelé MAGMaS, pour " Multiple Aerial Ground Manipulator System ". Les motivations qui ont conduites à l'association de manipulateurs terrestres et aériens pour effectuer des tâches de manipulation coopérative, résident dans une volonté d'exploiter leurs particularités respectives. Les manipulateurs terrestres apportant leur importante force et les manipulateurs aériens apportant leur vaste espace de travail. La première contribution de cette thèse présente une modélisation rigoureuse des MAGMaS. Les propriétés du système ainsi que ses possibles extensions sont discutées. Les méthodes de planning, d'estimation et de régulation nécessaire à l'exploitation des MAGMaS pour des tâches de manipulation collaborative sont dérivées. Ce travail propose d'exploiter les redondances des MAGMaS grâce à un algorithme optimal d'allocation de forces entre les manipulateurs. De plus, une méthode générale d'estimation de forces pour robots aériens est introduite. Toutes les techniques et les algorithmes présentés dans cette thèse sont intégrés dans une architecture globale, utilisée à la fois pour la simulation et la validation expérimentale. Cette architecture est en outre augmentée par l'addition d'une structure de télé-présence, afin de permettre l'opération à distances des MAGMaS. L'architecture générale est validée par une démonstration de levage de barre, qui est une application représentative des potentiels usages des MAGMaS. Une autre contribution relative au développement des MAGMaS consiste en une étude exploratoire de la flexibilité dans les objets manipulés par un MAGMaS. Un modèle du phénomène vibratoire est dérivé afin de mettre en exergue ses propriétés en termes de contrôle. La dernière contribution de cette thèse consiste en une étude exploratoire sur l'usage des actionneurs à raideur variable dans les robots aériens, dotant ces systèmes d'une compliance mécanique intrinsèque et de capacité de stockage d'énergie. Les fondements théoriques sont associés à la synthèse d'un contrôleur non-linéaire. L'approche proposée est validée par le biais d'expériences reposant sur l'intégration d'un actionneur à raideur variable léger sur un robot aérienIn recent years, the subject of physical interaction for aerial robots has been a popular research area with many new mechanical designs and control approaches being proposed. The aerial robotics community is currently observing a paradigm shift from classic guidance, navigation, and control tasks towards more unusual tasks, for example requesting aerial robots to physically interact with the environment, thus extending the manipulation task from the ground into the air. This thesis contributes to the field of aerial manipulation by proposing a novel concept known has Multiple Aerial-Ground Manipulator System or MAGMaS, including what appears to be the first experimental demonstration of a MAGMaS and opening a new route of research. The motivation behind associating ground and aerial robots for cooperative manipulation is to leverage their respective particularities, ground robots bring strength while aerial robots widen the workspace of the system. The first contribution of this work introduces a meticulous system model for MAGMaS. The system model's properties and potential extensions are discussed in this work. The planning, estimation and control methods which are necessary to exploit MAGMaS in a cooperative manipulation tasks are derived. This works proposes an optimal control allocation scheme to exploit the MAGMaS redundancies and a general model-based force estimation method is presented. All of the proposed techniques reported in this thesis are integrated in a global architecture used for simulations and experimental validation. This architecture is extended by the addition of a tele-presence framework to allow remote operations of MAGMaS. The global architecture is validated by robust demonstrations of bar lifting, an application that gives an outlook of the prospective use of the proposed concept of MAGMaS. Another contribution in the development of MAGMaS consists of an exploratory study on the flexibility of manipulated loads. A vibration model is derived and exploited to showcase vibration properties in terms of control. The last contribution of this thesis consists of an exploratory study on the use of elastic joints in aerial robots, endowing these systems with mechanical compliance and energy storage capabilities. Theoretical groundings are associated with a nonlinear controller synthesis. The proposed approach is validated by experimental work which relies on the integration of a lightweight variable stiffness actuator on an aerial robot
28
Baklouti, Sana. "Vibration Analysis and Reduction of Cable-Driven Parallel Robots." Thesis, Rennes, INSA, 2018. http://www.theses.fr/2018ISAR0034/document.
Анотація:
Cette thèse vise à améliorer le positionnement statique et la précision de suivi de trajectoire des Robots Parallèles à Câbles (RPC) tout en prenant en compte leur élasticité globale. A cet effet, deux stratégies de commandes complémentaires valables pour toute configuration de RPC sont proposées.Tout d'abord, une analyse de robustesse est réalisée pour aboutir à une commande robuste des RPC référencée modèle. Un modèle de RPC approprié est défini en fonction de l'application visée et les principales sources d'erreurs de pose de la plate-forme mobile sont identifiées.Une première méthode de commande est proposée sur la base des résultats de l'analyse de robustesse. Cette première méthode réside dans le couplage d'une commande référencée modèle d’un contrôleur PID.Dans le cadre de cette thèse, un modèle élasto-dynamique de RPC est exprimé afin de compenser le comportement oscillatoire de sa plate-forme mobile dû à l'élongation des câbles et de son comportement dynamique.La deuxième méthode de commande utilise des filtres "input-shaping" dans la commande référencée modèle proposée afin d'annuler les mouvements oscillatoires de la plate-forme mobile. Ainsi, le signal d'entrée est modifié pour que le RPC annule automatiquement les vibrations résiduelles. Les résultats théoriques obtenus sont validés expérimentalement à l'aide d'un prototype de RPC non redondant en actionnement et en configuration suspendue. Les résultats expérimentaux montrent la pertinence des stratégies de commande proposées en termes d'amélioration de la précision de suivi de trajectoire et de réduction des vibrationsThis thesis aims at improving the static positioning and trajectory tracking accuracy of Cable- Driven Parallel Robots (CDPRs) while considering their overall elasticity. Accordingly, two complementary control strategies that are valid for any CDPR configuration are proposed.First, a robustness analysis is performed to lead to a robust model-based control of CDPRs. As a result, an appropriate CDPR model is defined as a function of the targeted application and the main sources of CDPR moving-platforms pose errors are identified.A first control method is determined based on the results of the robustness analysis. This first method lies in the coupling of a model-based feed-forward control scheme for CDPR with a PID feedback controller.Here, an elasto-dynamic model of the CDPR is expressed to compensate the oscillatory motions of its moving-platform due to cable elongations and its dynamic behavior.The second control method uses input-shaping filters into the proposed model-based feed-forward control in order to cancel the oscillatory motions the movingplatform. Thus, the input signal is modified for the CDPR to self-cancel residual vibrations.Experimental validations are performed while using suspended and non-redundant CDPR prototype. The proposed feed-forward model-based control schemes are implemented, and their effectiveness is discussed.Results show the relevance of the proposed control strategies in terms of trajectory tracking accuracy improvement and vibration reduction
29
Usher, Kane. "Visual homing for a car-like vehicle." Thesis, Queensland University of Technology, 2005. https://eprints.qut.edu.au/16309/1/Kane_Usher_Thesis.pdf.
Анотація:
This thesis addresses the pose stabilization of a car-like vehicle using omnidirectional visual feedback. The presented method allows a vehicle to servo to a pre-learnt target pose based on feature bearing angle and range discrepancies between the vehicle's current view of the environment and that seen at the learnt location. The best example of such a task is the use of visual feedback for autonomous parallel-parking of an automobile.
Much of the existing work in pose stabilization is highly theoretical in nature with few examples of implementations on 'real' vehicles, let alone vehicles representative of those found in industry. The work in this thesis develops a suitable test platform and implements vision-based pose stabilization techniques. Many of the existing techniques were found to fail due to vehicle steering and velocity loop dynamics, and more significantly, with steering input saturation. A technique which does cope with the characteristics of 'real' vehicles is to divide the task into predefined stages, essentially dividing the state space into sub-manifolds. For a car-like vehicle, the strategy used is to stabilize the vehicle to the line which has the correct orientation and contains the target location. Once on the line, the vehicle then servos to the desired pose. This strategy can accommodate velocity and steering loop dynamics, and input saturation. It can also allow the use of linear control techniques for system analysis and tuning of control gains.
To perform pose stabilization, good estimates of vehicle pose are required. A simple, yet robust, method derived from the visual homing literature is to sum the range vectors to all the landmarks in the workspace and divide by the total number of landmarks--the Improved Average Landmark Vector. By subtracting the IALV at the target location from the currently calculated IALV, an estimate of vehicle pose is obtained. In this work, views of the world are provided by an omnidirectional camera, while a magnetic compass provides a reference direction. The landmarks used are red road cones which are segmented from the omnidirectional colour images using a pre-learnt, two-dimensional lookup table of their colour profile. Range to each landmark is estimated using a model of the optics of the system, based on a flat-Earth assumption. A linked-list based method is used to filter the landmarks over time. Complementary filtering techniques, which combine the vision data with vehicle odometry, are used to improve the quality of the measurements.
30
Usher, Kane. "Visual homing for a car-like vehicle." Queensland University of Technology, 2005. http://eprints.qut.edu.au/16309/.
Анотація:
This thesis addresses the pose stabilization of a car-like vehicle using omnidirectional visual feedback. The presented method allows a vehicle to servo to a pre-learnt target pose based on feature bearing angle and range discrepancies between the vehicle's current view of the environment and that seen at the learnt location. The best example of such a task is the use of visual feedback for autonomous parallel-parking of an automobile. Much of the existing work in pose stabilization is highly theoretical in nature with few examples of implementations on 'real' vehicles, let alone vehicles representative of those found in industry. The work in this thesis develops a suitable test platform and implements vision-based pose stabilization techniques. Many of the existing techniques were found to fail due to vehicle steering and velocity loop dynamics, and more significantly, with steering input saturation. A technique which does cope with the characteristics of 'real' vehicles is to divide the task into predefined stages, essentially dividing the state space into sub-manifolds. For a car-like vehicle, the strategy used is to stabilize the vehicle to the line which has the correct orientation and contains the target location. Once on the line, the vehicle then servos to the desired pose. This strategy can accommodate velocity and steering loop dynamics, and input saturation. It can also allow the use of linear control techniques for system analysis and tuning of control gains. To perform pose stabilization, good estimates of vehicle pose are required. A simple, yet robust, method derived from the visual homing literature is to sum the range vectors to all the landmarks in the workspace and divide by the total number of landmarks--the Improved Average Landmark Vector. By subtracting the IALV at the target location from the currently calculated IALV, an estimate of vehicle pose is obtained. In this work, views of the world are provided by an omnidirectional camera, while a magnetic compass provides a reference direction. The landmarks used are red road cones which are segmented from the omnidirectional colour images using a pre-learnt, two-dimensional lookup table of their colour profile. Range to each landmark is estimated using a model of the optics of the system, based on a flat-Earth assumption. A linked-list based method is used to filter the landmarks over time. Complementary filtering techniques, which combine the vision data with vehicle odometry, are used to improve the quality of the measurements.
31
Ankelhed, Daniel, and Lars Stenlind. "Tillståndsskattning i robotmodell med accelerometrar." Thesis, Linköping University, Department of Electrical Engineering, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-820.
Анотація:
The purpose of this report is to evaluate different methods for identifying states in robot models. Both linear and non-linear filters exist among these methods and are compared to each other. Advantages, disadvantages and problems that can occur during tuning and running are presented. Additional measurements from accelerometers are added and their use with above mentioned methods for state estimation is evaluated. The evaluation of methods in this report is mainly based on simulations in Matlab, even though some experiments have been performed on laboratory equipment.
The conclusion indicates that simple non-linear models with few states can be more accurately estimated with a Kalman filter than with an extended Kalman filter, as long as only linear measurements are used. When non-linear measurements are used an extended Kalman filteris more accurate than a Kalman filter. Non-linear measurements are introduced through accelerometers with non-linear measurement equations. Using accelerometers generally leads to better state estimation when the measure equations have a simple relation to the model.
32
Beciu, Andreea-Livia. "Commande robuste à haute performance sans capteur de position d'alterno-démarreurs à grande vitesse avec un fort couple à l'arrêt pour les avions plus électriques." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLC078.
Анотація:
Les avionneurs expriment le besoin de développement de l’avion plus « électrique ». Cela se traduit par des besoins nouveaux en matière de systèmes de motorisation électrique, en termes de puissance à fournir et de partage de ressources matérielles en vue de minimiser la masse embarquée et les coûts. Parmi les études en cours sur l’évolution des machines tournantes, un intérêt particulier porte sur le développement des alterno-démarreurs de type machines synchrones sans balais et à plusieurs étages (BSSG). Celles-ci sont susceptibles de fournir un fort couple lors des phases de démarrage des réacteurs auxquelles elles sont associées. Pour ce faire, la connaissance, à tout moment, de la position du rotor est essentielle. Cependant, l'ajout d’un capteur dédié impacte la conception de la machine, rajoutant du volume, du câblage et augmentant le coût. La réalisation d'une commande dite « sensorless » permettrait de s'affranchir de l'utilisation d'un tel capteur et de simplifier le design des alterno-démarreurs.A partir d'une modélisation fine de la machine, cette thèse étudie les conditions dans lesquelles une telle commande est réalisable et analyse plusieurs techniques permettant d'y parvenir. Une nouvelle méthode d'estimation de la position du rotor, spécifique aux BSSG est proposée, puis illustrée avec des résultats expérimentaux. Cette technique est basée sur le traitement des composantes harmoniques existantes naturellement au stator de la machine et permet l'estimation de la position à l'arrêt et à très basse vitesse. Afin d'étendre l'estimation sur toute la plage de vitesse, une étude d'estimation de position par un observateur d'état à base du modèle complet de la machine en considérant les harmonique injectés (ou existantes) dans les courants du stator est proposée. Cet observateur peut s’appliquer à la machine synchrone à trois étages mais aussi à toute machine synchrone. Dans cette étude, son fonctionnement est illustré sur une machine synchrone à aimants permanentsThe aircraft manufacturers express the need to develop a more "electric" aircraft. This brings forward new requirements for the electric drive systems in terms of increasing the available on-board power and resource sharing in order to optimize the overall mass and cost. Among the ongoing studies on the evolution of motor drives, a particular interest is given to the development of multi-level brushless synchronous starter/generators (BSSG). These drives are likely to provide the high torque required to start-up the reactors to which they are associated. For this purpose, the knowledge, at any time, of the rotor position is essential. However, adding a dedicated sensor impacts on the design of the machine, increasing volume, cabling needs and cost. For this purpose, investigating on “sensorless” control laws will permit to avoid using such a sensor and to simplify the design of the Starter/Generators.Using a fine modelling of the machine, this work studies the conditions of feasibility for sensorless control and analyzes several techniques for this purpose. A new method of estimation of the shaft-position, particular to the BSSG architecture is proposed and then illustrated with experimental results. This technique is based on the processing of the existing harmonic components naturally in the stator of the machine and allows the estimation of the position at standstill and the very low speed. To extend the estimation to the whole speed range, a study of position estimation using a state observer using the complete model of the machine considering the knowledge of the existing (or injected) harmonic components in the stator currents is proposed. This observer can be applied to the brushless synchronous starter/generator but also on generic synchronous machines. In this study, its performance is illustrated on a permanent magnet synchronous machine
33
Tillet, Joris. "Safe localization and control of a towed sensor." Thesis, Brest, École nationale supérieure de techniques avancées Bretagne, 2021. http://www.theses.fr/2021ENTA0013.
Анотація:
L’exploration des océans devient de plus en plus accessible, notamment grâce aux avancées en robotique. Les applications pour les robots sous-marins sont nombreuses. Dans cette thèse, on s’intéresse particulièrement à la recherche d’épaves, telle que celle de La Cordelière, qui a coulé dans la Rade de Brest en 1512. Le système robotique proposé consiste à tracter un magnétomètre susceptible de détecter les matériaux ferromagnétiques de l’épave. Le capteur ne peut pas être directement embarqué car il est sensible aux perturbations du robot. C’est pourquoi il est déporté. Deux problématiques sont alors étudiées pour appréhender ce système. La première est liée au contrôle de la position du magnétomètre alors que l’on ne peut agir que sur le robot tractant. Une méthode de linéarisation par bouclage est alors utilisée pour construire un contrôleur. Ce contrôleur est ensuite validé sous certaines contraintes d’état en utilisant des outils d’analyse par intervalles. La seconde problématique concerne la localisation sous l’eau de manière fiable. Sont alors étudiés des moyens d’appréhender les incertitudes et les données aberrantes collectées par un capteur acoustique. L’analyse par intervalles permet d’obtenir des premiers résultats, et la logique floue vient compléter l’approche en donnant plus de souplesse dans la priorisation des contraintes. Finalement, des expérimentations sont présentées avec différents robots, et notamment la localisation d’un ROV dans une piscineThe oceans’ exploration becomes more and more reachable, especially thanks to robotics progress. Applications for underwater robots are plentiful. In this thesis, we particularly focus on the search of wrecks, as the Cordelière, which sank in the Bay of Brest (France) in 1512. The proposed robotic system consists of towing a magnetometer likely to detect the ferromagnetic materials of the wreck. The sensor cannot be directly embedded because it is sensitive to the perturbations from the robot. This is why it is deported. Two issues are studied to approach this system. The first one is linked to the control of the magnetometer’s position, whereas we can only act on the towing robot. A feedback linearization method is used to design a controller. Then, this controller is validated under some state constraints by using tools from interval analysis. The second issue relates to underwater localization in a reliable manner. Ways to approach uncertainties and outliers gathered by acoustic sensors are studied. The interval analysis allows to obtain first results, and the fuzzy logic completes the approach by giving more suppleness in the prioritization of the constraints. Finally, some expérimentations are presented with different robots, and especially the localization of a ROV in a pool
34
Andréa-Novel, Brigitte d'. "Sur la commande d'une classe de systèmes mécaniques." Paris, ENMP, 1987. http://www.theses.fr/1987ENMP0067.
Анотація:
Elaboration de lois de commande en particulier pour la robotique. Utilisation de l'approche polynomiale pour placer des zeros de transmission a poles fixes. Cas des systemes non lineaires. Etude par topologie algebrique. Utilisation d'une approche par immersion et bouclage linearisant. Problemes de stabilite dans le cas de grands genres
35
Huard, Benoît. "Contribution à la modélisation non-linéaire et à la commande d'un actionneur robotique intégré pour la manipulation." Thesis, Poitiers, 2013. http://www.theses.fr/2013POIT2262/document.
Анотація:
La réalisation de tâches de manipulation dextres requiert une complexité aussi bien dans la conception de préhenseur robotique que dans la synthèse de leurs lois de commande. Une optimisation de la mécatronique de ces systèmes permet de répondre aux contraintes d'intégration fonctionnelle en se passant de capteurs de force terminaux. L'utilisation de mécanismes réversibles rend alors possible la détermination du positionnement du système dans l'espace libre et la détection de son interaction avec les objets manipulés, grâce aux mesures proprioceptives inhérentes aux actionneurs électriques. L'objectif de cette thèse est de parvenir synthétiser, dans le contexte articulaire (un degré-de-liberté), une commande adaptée à la manipulation en tenant compte de ces particularités mécaniques. La méthode proposée est basée sur une commande robuste par rapport aux non-linéarités structurelles dues aux effets gravitationnels et aux frottements secs d'une part et par rapport aux rigidités variables des objets manipulés. L'approche choisie nécessite la connaissance précise de la configuration du système étudié à chaque instant. Une représentation dynamique de son comportement permet de synthétiser un capteur logiciel pour l'estimation des grandeurs indispensables à la commande. Ces différentes étapes sont validées par des essais expérimentaux pour justifier la démarche choisie menant à une commande adaptée à la manipulation d'objetsThe realization of dexterous manipulation tasks requires a complexity in robotic hands design as well as in their control laws synthesis. A mecatronical optimization of these systems helps to answer for functional integration constraints by avoiding external force sensors. Back-drivable mechanics allows the free-space positioning determination of such system as far as the detection of its interaction with a manipulated object thanks to proprioceptives measures at electric actuator level. The objective of this thesis is to synthesize a control law adapted to object manipulation by taking into account these mechanical properties in a one degree-of-freedom case. The proposed method is based on a robust control according to structural non-linearities due to gravitational effects and dry frictions on the one hand and with regard to a variable rigidity of manipulated objects on the other hand. The chosen approach requires a precise knowledge of the system configuration at all time. A dynamic representation of its behavior enables a software sensor synthesis for the exteroceptives variables estimation in a control law application purpose. The different steps are experimentally validated in order to justify the chosen approach leading to object manipulation
36
Vestin, Albin, and Gustav Strandberg. "Evaluation of Target Tracking Using Multiple Sensors and Non-Causal Algorithms." Thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-160020.
Анотація:
Today, the main research field for the automotive industry is to find solutions for active safety. In order to perceive the surrounding environment, tracking nearby traffic objects plays an important role. Validation of the tracking performance is often done in staged traffic scenarios, where additional sensors, mounted on the vehicles, are used to obtain their true positions and velocities. The difficulty of evaluating the tracking performance complicates its development. An alternative approach studied in this thesis, is to record sequences and use non-causal algorithms, such as smoothing, instead of filtering to estimate the true target states. With this method, validation data for online, causal, target tracking algorithms can be obtained for all traffic scenarios without the need of extra sensors. We investigate how non-causal algorithms affects the target tracking performance using multiple sensors and dynamic models of different complexity. This is done to evaluate real-time methods against estimates obtained from non-causal filtering. Two different measurement units, a monocular camera and a LIDAR sensor, and two dynamic models are evaluated and compared using both causal and non-causal methods. The system is tested in two single object scenarios where ground truth is available and in three multi object scenarios without ground truth. Results from the two single object scenarios shows that tracking using only a monocular camera performs poorly since it is unable to measure the distance to objects. Here, a complementary LIDAR sensor improves the tracking performance significantly. The dynamic models are shown to have a small impact on the tracking performance, while the non-causal application gives a distinct improvement when tracking objects at large distances. Since the sequence can be reversed, the non-causal estimates are propagated from more certain states when the target is closer to the ego vehicle. For multiple object tracking, we find that correct associations between measurements and tracks are crucial for improving the tracking performance with non-causal algorithms.
37
Gomez, Faustino John. "Robust non-linear control through neuroevolution." Thesis, 2003. http://wwwlib.umi.com/cr/utexas/fullcit?p3116311.
38
Rossi, F., F. Manenti, C. Pirola, and Iqbal M. Mujtaba. "A robust sustainable optimization & control strategy (RSOCS) for (fed-)batch processes towards the low-cost reduction of utilities consumption." 2015. http://hdl.handle.net/10454/7964.
Анотація:
YesThe need for the development of clean but still profitable processes and the study of low environmental impact and economically convenient management policies for them are two challenges for the years to come. This paper tries to give a first answer to the second of these needs, limited to the area of discontinuous productions. It deals with the development of a robust methodology for the profitable and clean management of (fed-)batch units under uncertainty, which can be referred to as a robust sustainability-oriented model-based optimization & control strategy. This procedure is specifically designed to ensure elevated process performances along with low-cost utilities usage reduction in real-time, simultaneously allowing for the effect of any external perturbation. In this way, conventional offline methods for process sustainable optimization can be easily overcome since the most suitable management policy, aimed at process sustainability, can be dynamically determined and applied in any operating condition. This leads to a significant step forward with respect to the nowadays options in terms of sustainable process management, that drives towards a cleaner and more energy-efficient future. The proposed theoretical framework is validated and tested on a case study based on the well-known fed-batch version of the Williams-Otto process to demonstrate its tangible benefits. The results achieved in this case study are promising and show that the framework is very effective in case of typical process operation while it is partially effective in case of unusual/unlikely critical process disturbances. Future works will go towards the removal of this weakness and further improvement in the algorithm robustness.
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Mujtaba, Iqbal M., A. Arpornwichanop, and P. Kittisupakorn. "On-line dynamic optimization and control strategy for improving the performance of batch reactors." 2005. http://hdl.handle.net/10454/3118.
Анотація:
NoSince batch reactors are generally applied to produce a wide variety of specialty products, there is a great deal of interest to enhance batch operation to achieve high quality and purity product while minimizing the conversion of undesired by-product. The use of process optimization in the control of batch reactors presents a useful tool for operating batch reactors efficiently and optimally. In this work, we develop an approach, based on an on-line dynamic optimization strategy, to modify optimal temperature set point profile for batch reactors. Two different optimization problems concerning batch operation: maximization of product concentration and minimization of batch time, are formulated and solved using a sequential optimization approach. An Extended Kalman Filter (EKF) is incorporated into the proposed approach in order to update current states from their delayed measurement and to estimate unmeasurable state variables. A nonlinear model-based controller: generic model control algorithm (GMC) is applied to drive the temperature of the batch reactor to follow the desired profile. A batch reactor with complex exothermic reaction scheme is used to demonstrate the effectiveness of the proposed approach. The simulation results indicate that with the proposed strategy, large improvement in batch reactor performance, in term of the amount of a desired product and batch operation time, can be achieved compared to the method where the optimal temperature set point is pre-determined.
40
Lim, Boon Ping. "Energy-aware Occupancy Scheduling." Phd thesis, 2017. http://hdl.handle.net/1885/124737.
Анотація:
Buildings are the largest consumers of energy worldwide. Within a
building, heating, ventilation and air-conditioning (HVAC)
systems consume the most energy, leading to trillion dollars of
electrical expenditure worldwide each year. With rising energy
costs and increasingly stringent regulatory environments,
improving the energy efficiency of HVAC operations in buildings
has become a global concern. From a short-term economic
point-of-view, with over 100 billion dollars in annual
electricity expenditures, even a small percentage improvement in
the operation of HVAC systems can lead to significant savings.
From a long-term point-of-view, the need of fostering a smart and
sustainable built environment calls for the development of
innovative HVAC control strategies in buildings.
In this thesis, we look at the potential for integrating building
operations with room booking and occupancy scheduling. More
specifically, we explore novel approaches to reduce HVAC
consumption in commercial buildings, by jointly optimising the
occupancy scheduling decisions (e.g. the scheduling of meetings,
lectures, exams) and the building’s occupancy-based HVAC
control. Our vision is to integrate occupancy scheduling with
HVAC control, in such a way that the energy consumption is
reduced, while the occupancy thermal comfort and scheduling
requirements are addressed. We identify four unique research
challenges which we simultaneously tackle in order to achieve
this vision, and which form the major contributions of this
thesis.
Our first contribution is an integrated model that achieves high
efficiency in energy reduction by fully exploiting the capability
to coordinate HVAC control and occupancy scheduling. The core
component of our approach is a mixed-integer linear programming
(MILP) model which optimally solves the joint occupancy
scheduling and occupancy-based HVAC control problem. Existing
approaches typically solve these subproblems in isolation: either
scheduling occupancy given conventional control policies, or
optimising HVAC control using a given occupancy schedule. From a
computation standpoint, our joint problem is much more
challenging than either, as HVAC models are traditionally
non-linear and non-convex, and scheduling models additionally
introduce discrete variables capturing the time slot and location
at which each activity is scheduled. We find that substantial
reduction in energy consumption can be achieved by solving the
joint problem, compared to the state of the art approaches using
heuristic scheduling solutions and to more naïve integrations of
occupancy scheduling and occupancy-based HVAC control.
Our second contribution is an approach that scales to large
occupancy scheduling and HVAC control problems, featuring
hundreds of activity requests across a large number of offices
and rooms. This approach embeds the integrated MILP model into
Large Neighbourhood Search (LNS). LNS is used to destroy part of
the schedule and MILP is used to repair the schedule so as to
minimise energy consumption. Given sets of occupancy schedules
with different constrainedness and sets of buildings with varying
thermal response, our model is sufficiently scalable to provide
instantaneous and near-optimal solutions to problems of realistic
size, such as those found in university timetabling.
The third contribution is an online optimisation approach that
models and solves the online joint HVAC control and occupancy
scheduling problem, in which activity requests arrive
dynamically. This online algorithm greedily commits to the best
schedule for the latest activity requests, but revises the entire
future HVAC control strategy each time it considers new requests
and weather updates. We ensure that whilst occupants are
instantly notified of the scheduled time and location for their
requested activity, the HVAC control is constantly re-optimised
and adjusted to the full schedule and weather updates. We
demonstrate that, even without prior knowledge of future
requests, our model is able to produce energy-efficient schedules
which are close to the clairvoyant solution.
Our final contribution is a robust optimisation approach that
incorporates adaptive comfort temperature control into our
integrated model. We devise a robust model that enables flexible
comfort setpoints, encouraging energy saving behaviors by
allowing the occupants to indicate their thermal comfort
flexibility, and providing a probabilistic guarantee for the
level of comfort tolerance indicated by the occupants. We find
that dynamically adjusting temperature setpoints based on
occupants’ thermal acceptance level can lead to significant
energy reduction over the conventional fixed temperature
setpoints approach.
Together, these components deliver a complete optimisation
solution that is efficient, scalable, responsive and robust for
online HVAC-aware occupancy scheduling in commercial buildings.
41
Nikkhah, Arman. "Mechanical design, dynamic modeling and control of hydraulic artificial muscles." Thesis, 2020. http://hdl.handle.net/1828/11999.
Анотація:
Artificial human muscles have traditionally been operated through pneumatic
means, and are known as Pneumatic Artificial Muscles (PAMs). Over the last
several decades, Hydraulic Artificial Muscles (HAMs) have also been investigated
due to their high power-to-weight ratio and human-like characteristics.
Compared to PAMs, HAMs typically exhibit faster response, higher efficiency,
and superior position control; characteristics which provide potential for application
in rehabilitation robotics. This thesis presents a new approach to actuate
artificial muscles in an antagonistic pair configuration. The detailed mechanical
design of the test platform is introduced, along with the development of
a dynamic model for actuating an artificial elbow joint. Also, custom manufactured
Oil-based Hydraulic Artificial Muscles (OHAMs) are implemented in
a biceps-triceps configuration and characterized on the test platform. Furthermore,
an integrator-backstepping controller is derived for HAMs with different
characteristics (stiffness and damping coefficients) in an antagonistic pair configuration.
Finally, simulations and experimental results of the position control
of the artificial elbow joint are discussed to confirm the functionality of the
OHAMs utilizing the proposed actuating mechanism and the effectiveness of
the developed control algorithm.Graduate