Quelques contributions à la théorie de la commande par modes glissants

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ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (117 download)

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Book Synopsis Quelques contributions à la théorie de la commande par modes glissants by : Vincent Bregeault

Download or read book Quelques contributions à la théorie de la commande par modes glissants written by Vincent Bregeault and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Ce travail de thèse propose des solutions pour la commande de systèmes non linéaires incertains en se basant sur la théorie des modes glissants. Ce mémoire présente la théorie des modes glissants et des modes glissants d'ordre supérieur, en distinguant des notions souvent confondues, comme les commandes équivalente et nominale, ou les modes glissants d'ordre supérieur idéal ou réel. Une preuve originale de la convergence de l'algorithme du super twisting est également présentée. Une commande par modes glissants à amplitude adaptative a été proposée dans le but de réduire le chattering. Elle a été testée sur le banc d'essais d'actionneur électropneumatique de l'IRCCyN, dont les modèles de simulation et de synthèse sont exposés. L'autre théorie présentée dans ce mémoire est celle de la commande à temps minimal pour des systèmes parfaitement connus. Des algorithmes de calcul à la surface de commutation à temps minimal sont présentés. Un lien est fait avec la théorie de la commande par modes glissants d'ordre supérieur. Le résultat est une commande ayant la robustesse et la précision asymptotique des modes glissants d'ordre supérieur et la vitesse de convergence héritée de la commande à temps minimal. Une solution au problème du chattering, spécialement délicat pour cette commande, est également, proposée

Théorie élémentaire et pratique de la commande par les régimes glissants

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Publisher : Springer Science & Business Media
ISBN 13 : 3540310037
Total Pages : 348 pages
Book Rating : 4.5/5 (43 download)

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Book Synopsis Théorie élémentaire et pratique de la commande par les régimes glissants by : Pierre Lopez

Download or read book Théorie élémentaire et pratique de la commande par les régimes glissants written by Pierre Lopez and published by Springer Science & Business Media. This book was released on 2006-03-13 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: La première partie de cet ouvrage est une initiation aux modes glissants complétée par divers aspects pratiques, dans le cas des systèmes continus mono-entrée mono-sortie. La deuxième partie propose divers modes glissants généralisés et aspects théoriques, dans le cas des systèmes multi-entrée multi-sortie continus, discrets et hybrides.

Applications of Sliding Mode Control

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Publisher : Springer
ISBN 13 : 9811023743
Total Pages : 366 pages
Book Rating : 4.8/5 (11 download)

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Book Synopsis Applications of Sliding Mode Control by : Nabil Derbel

Download or read book Applications of Sliding Mode Control written by Nabil Derbel and published by Springer. This book was released on 2016-10-14 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents essential studies and applications in the context of sliding mode control, highlighting the latest findings from interdisciplinary theoretical studies, ranging from computational algorithm development to representative applications. Readers will learn how to easily tailor the techniques to accommodate their ad hoc applications. To make the content as accessible as possible, the book employs a clear route in each paper, moving from background to motivation, to quantitative development (equations), and lastly to case studies/illustrations/tutorials (simulations, experiences, curves, tables, etc.). Though primarily intended for graduate students, professors and researchers from related fields, the book will also benefit engineers and scientists from industry.

Contribution À la Théorie de la Commande Par Modes Glissants D'ordre Supérieur Et À la Commande Des Systèmes Mécaniques Sous-actionnés

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ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (986 download)

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Book Synopsis Contribution À la Théorie de la Commande Par Modes Glissants D'ordre Supérieur Et À la Commande Des Systèmes Mécaniques Sous-actionnés by : Mohamed Harmouche

Download or read book Contribution À la Théorie de la Commande Par Modes Glissants D'ordre Supérieur Et À la Commande Des Systèmes Mécaniques Sous-actionnés written by Mohamed Harmouche and published by . This book was released on 2013 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonlinear systems are so diverse that generalized tools for control are difficult to develop. Nonlinear control theory requires rigorous mathematical analysis to justify its conclusions. This thesis addresses two distinct, yet important branches of nonlinear control theory: control of uncertain nonlinear systems and control of under-actuated systems.In the first part, a class of Lyapunov-based robust arbitrary higher order sliding mode (HOSM) controllers is developed for the control of uncertain nonlinear systems. This class of controllers is based on a class of controllers for finite-time stabilization of pure integrator chain, and requires the limits of the system uncertainty to be known a-priori. Then, in order to eliminate the dependence on the knowledge of these limits, an adaptive arbitrary HOSM controller is developed. Using this new class, a universal homogeneous arbitrary HOSM controller is developed and it is shown that the homogeneity degree can be manipulated to obtain additional advantages in the proposed controllers, such as bounded control, minimum amplitude of discontinuous control and fixed time convergence. The performance of the controllers has been demonstrated through simulations and experiments on a fuel cell system.In the next part, the control of two under-actuated systems is studied. The first control problem is the global path following of car-type robotic vehicle, using target-point. The second problem is the precise tracking of surface marine vessels. Both these problems are distinct in nature; however, they are subjected to similar physical constraints. The solutions proposed for these control problems use saturated controls, taking into account the physical bounds on the control inputs. Simulations have been performed to demonstrate the performance of these controllers.

CONTRIBUTION A L'ETUDE DE LA COMMANDE D'AXE PAR MODE GLISSANT

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ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (49 download)

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Book Synopsis CONTRIBUTION A L'ETUDE DE LA COMMANDE D'AXE PAR MODE GLISSANT by : Hubert Razik

Download or read book CONTRIBUTION A L'ETUDE DE LA COMMANDE D'AXE PAR MODE GLISSANT written by Hubert Razik and published by . This book was released on 1991 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: CETTE ETUDE THEORIQUE PORTE SUR LA COMMANDE PAR MODE GLISSANT D'UN AXE COMPLET. CELUI-CI SE COMPOSE D'UN JEU MECANIQUE, D'UN ARBRE ELASTIQUE ET D'UNE CHARGE INERTIELLE DOTEE DE FROTTEMENTS. L'OBSERVATEUR DE TORSION Y EST EGALEMENT TRAITE. LA VALIDATION DE CETTE ETUDE EST FAITE PAR DES SIMULATIONS. UN PROTOTYPE A ETE REALISE DANS LE BUT DE REFLETER LES CARACTERISTIQUES INDUSTRIELLES, ET DE PERMETTRE DE CONFRONTER LES RESULTATS OBTENUS LORS DES QUELQUES EXPERIMENTATIONS SUR LES LOIS DE COMMANDE A CELLES PRECEDEMMENT ETUDIEES

Commande par modes glissants d'ordre supérieur

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ISBN 13 :
Total Pages : 121 pages
Book Rating : 4.:/5 (491 download)

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Book Synopsis Commande par modes glissants d'ordre supérieur by : Salah Laghrouche

Download or read book Commande par modes glissants d'ordre supérieur written by Salah Laghrouche and published by . This book was released on 2004 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: Le travail de thèse présenté dans ce mémoire s'inscrit dans le cadre de la synthèse de lois de commande par modes glissants d'ordre supérieur. Son objectif est double. Tout d'abord, il s'agit de proposer, en utilisant des outils de commande optimale quadratique, des approches de lois de commande par modes glissants d'ordre supérieur constructives et facilement mises en œuvre, malgré les incertitudes et perturbations agissant sur le système, tout en assurant une convergence en temps fini et une précision meilleure que dans le cas de la commande par modes glissants classique. Ces méthodes sont développées pour des systèmes non linéaires incertains affines en la commande. Ensuite, le deuxième objectif est de démontrer l'applicabilité de ces approches à travers leurs applications effectives, c'est à dire expérimentales, dans deux domaines différents : les machines électriques synchrones et les actionneurs pneumatiques.

Commande dynamique par mode glissant

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ISBN 13 :
Total Pages : 222 pages
Book Rating : 4.:/5 (49 download)

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Book Synopsis Commande dynamique par mode glissant by : Sonia Hajri

Download or read book Commande dynamique par mode glissant written by Sonia Hajri and published by . This book was released on 1997 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ce memoire concerne la commande par mode glissant des processus complexes, notamment non lineaires, mal definis et perturbes. La contribution principale de ce travail porte sur la synthese d'une loi de commande par mode glissant assurant la robustesse du comportement vis-a-vis des incertitudes sur les parametres et leurs variations. Dans le premier chapitre de ce memoire un rappel sur le formalisme classique des regimes glissants est presente ainsi que leurs differents avantages et inconvenients. Dans le deuxieme chapitre, la synthese d'un controleur dynamique par mode glissant dans le cas des systemes monovariables permet de resoudre les problemes lies au phenomene de broutement et a la reduction de l'ordre du systeme en boucle fermee. En effet, le choix d'une surface de glissement de meme ordre que celui du systeme initial induit un compensateur dynamique dont l'action sera superposee a celle de l'entree choisie pour le systeme non perturbe. La robustesse de ce controleur pour differents types de perturbations est etudiee. Dans le troisieme chapitre, les resultats obtenus pour les systemes monovariables sont etendus au cas multivariable par une technique de decouplage. De plus, une approche d'optimisation des gains et des temps de ralliement a la surface est presentee. Enfin, un exemple illustratif relatif a un moteur synchrone permet de comparer la robustesse de trois algorithmes de commande par mode glissant. Dans le quatrieme chapitre, l'integration des approches floue et multi-modeles dans le controleur dynamique par mode glissant est proposee.

Contributions à la commande des systèmes (max,+)-linéaires

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ISBN 13 :
Total Pages : 258 pages
Book Rating : 4.:/5 (494 download)

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Book Synopsis Contributions à la commande des systèmes (max,+)-linéaires by : Laurent Houssin

Download or read book Contributions à la commande des systèmes (max,+)-linéaires written by Laurent Houssin and published by . This book was released on 2006 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: Les systèmes à événements discrets qui mettent en jeu des phénomènes de synchronisation possèdent une description linéaire dans l'algèbre (max,+). Une théorie des systèmes linéaires dans les dioïdes, développée par analogie à la théorie conventionnelle des systèmes, a alors vu le jour. Dans ce mémoire, nous abordons des problèmes de commande des systèmes (max,+)-linéaires. Jusque-là, les commandes de systèmes linéaires dans les dioïdes ont principalement considéré le critère du juste-à-temps et des objectifs de commande comme la poursuite d'une trajectoire de référence ou la poursuite d'un transfert de référence. La première contribution à la commande réside dans la prise en compte d'un nouvel objectif pour la commande en juste-à-temps. Plus précisément, on considère des spécifications sous la forme de contraintes sur l'état du système. Ensuite, nous abordons un nouveau critère de commande. On s'intéresse à la synthèse d'un correcteur qui ralentit le moins possible le transfert du système tout en assurant un objectif de commande défini par un ensemble de contraintes sur l'état. Les réseaux de transport admettent une description linéaire dans l'algèbre (max,+). La dernière partie de ce mémoire est consacrée à leur étude. Plus précisément, on propose des outils pour l'évaluation de performances et la commande de ces systèmes. Le problème de synthèse de tables d'horaires est notamment formulé en un problème de commande de système (max,+)-linéaire.

Control Design Techniques in Power Electronics Devices

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Publisher : Springer Science & Business Media
ISBN 13 : 1846284597
Total Pages : 432 pages
Book Rating : 4.8/5 (462 download)

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Book Synopsis Control Design Techniques in Power Electronics Devices by : Hebertt J. Sira-Ramirez

Download or read book Control Design Techniques in Power Electronics Devices written by Hebertt J. Sira-Ramirez and published by Springer Science & Business Media. This book was released on 2006-09-07 with total page 432 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals specifically with control theories relevant to the design of control units for switched power electronics devices, for the most part represented by DC–DC converters and supplies, by rectifiers of different kinds and by inverters with varying topologies. The theoretical methods for designing controllers in linear and nonlinear systems are accompanied by multiple case studies and examples showing their application in the emerging field of power electronics.

Speed Management

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Publisher : OECD Publishing
ISBN 13 :
Total Pages : 296 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Speed Management by : European Conference of Ministers of Transport

Download or read book Speed Management written by European Conference of Ministers of Transport and published by OECD Publishing. This book was released on 2006 with total page 296 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Report addresses the key issues surrounding traffic speed management and highlights the improvements in policy and operations needed to reduce the extent of speeding.

An Introduction to Mathematics of Emerging Biomedical Imaging

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Publisher : Springer Science & Business Media
ISBN 13 : 3540795537
Total Pages : 198 pages
Book Rating : 4.5/5 (47 download)

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Book Synopsis An Introduction to Mathematics of Emerging Biomedical Imaging by : Habib Ammari

Download or read book An Introduction to Mathematics of Emerging Biomedical Imaging written by Habib Ammari and published by Springer Science & Business Media. This book was released on 2008-05-21 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: Biomedical imaging is a fascinating research area to applied mathematicians. Challenging imaging problems arise and they often trigger the investigation of fundamental problems in various branches of mathematics. This is the first book to highlight the most recent mathematical developments in emerging biomedical imaging techniques. The main focus is on emerging multi-physics and multi-scales imaging approaches. For such promising techniques, it provides the basic mathematical concepts and tools for image reconstruction. Further improvements in these exciting imaging techniques require continued research in the mathematical sciences, a field that has contributed greatly to biomedical imaging and will continue to do so. The volume is suitable for a graduate-level course in applied mathematics and helps prepare the reader for a deeper understanding of research areas in biomedical imaging.

Sliding Mode Control and Observation

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Publisher : Springer Science & Business Media
ISBN 13 : 0817648933
Total Pages : 369 pages
Book Rating : 4.8/5 (176 download)

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Book Synopsis Sliding Mode Control and Observation by : Yuri Shtessel

Download or read book Sliding Mode Control and Observation written by Yuri Shtessel and published by Springer Science & Business Media. This book was released on 2013-06-01 with total page 369 pages. Available in PDF, EPUB and Kindle. Book excerpt: The sliding mode control methodology has proven effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics. Robust control technology based on this methodology has been applied to many real-world problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics. Sliding Mode Control and Observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higher-order sliding mode control and observation algorithms and their applications. The present volume addresses a range of sliding mode control issues, including: *Conventional sliding mode controller and observer design *Second-order sliding mode controllers and differentiators *Frequency domain analysis of conventional and second-order sliding mode controllers *Higher-order sliding mode controllers and differentiators *Higher-order sliding mode observers *Sliding mode disturbance observer based control *Numerous applications, including reusable launch vehicle and satellite formation control, blood glucose regulation, and car steering control are used as case studies Sliding Mode Control and Observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems, while being of interest to a wider audience of graduate students in electrical/mechanical/aerospace engineering and applied mathematics, as well as researchers in electrical, computer, chemical, civil, mechanical, aeronautical, and industrial engineering, applied mathematicians, control engineers, and physicists. Sliding Mode Control and Observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control theory.

Flight Formation Control

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Publisher : John Wiley & Sons
ISBN 13 : 1118563220
Total Pages : 279 pages
Book Rating : 4.1/5 (185 download)

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Book Synopsis Flight Formation Control by : Josep M. Guerrero

Download or read book Flight Formation Control written by Josep M. Guerrero and published by John Wiley & Sons. This book was released on 2012-12-17 with total page 279 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.

Sliding Modes in Control and Optimization

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Publisher : Springer Science & Business Media
ISBN 13 : 3642843794
Total Pages : 300 pages
Book Rating : 4.6/5 (428 download)

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Book Synopsis Sliding Modes in Control and Optimization by : Vadim I. Utkin

Download or read book Sliding Modes in Control and Optimization written by Vadim I. Utkin and published by Springer Science & Business Media. This book was released on 2013-03-12 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book is devoted to systems with discontinuous control. The study of discontinuous dynamic systems is a multifacet problem which embraces mathematical, control theoretic and application aspects. Times and again, this problem has been approached by mathematicians, physicists and engineers, each profession treating it from its own positions. Interestingly, the results obtained by specialists in different disciplines have almost always had a significant effect upon the development of the control theory. It suffices to mention works on the theory of oscillations of discontinuous nonlinear systems, mathematical studies in ordinary differential equations with discontinuous righthand parts or variational problems in nonclassic statements. The unremitting interest to discontinuous control systems enhanced by their effective application to solution of problems most diverse in their physical nature and functional purpose is, in the author's opinion, a cogent argument in favour of the importance of this area of studies. It seems a useful effort to consider, from a control theoretic viewpoint, the mathematical and application aspects of the theory of discontinuous dynamic systems and determine their place within the scope of the present-day control theory. The first attempt was made by the author in 1975-1976 in his course on "The Theory of Discontinuous Dynamic Systems" and "The Theory of Variable Structure Systems" read to post-graduates at the University of Illinois, USA, and then presented in 1978-1979 at the seminars held in the Laboratory of Systems with Discontinous Control at the Institute of Control Sciences in Moscow.

Discrete-time Sliding Mode Control

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Publisher : Springer Science & Business Media
ISBN 13 : 9783540281405
Total Pages : 174 pages
Book Rating : 4.2/5 (814 download)

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Book Synopsis Discrete-time Sliding Mode Control by : B. Bandyopadhyay

Download or read book Discrete-time Sliding Mode Control written by B. Bandyopadhyay and published by Springer Science & Business Media. This book was released on 2005-10-17 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: Sliding mode control is a simple and yet robust control technique, where the system states are made to confine to a selected subset. With the increasing use of computers and discrete-time samplers in controller implementation in the recent past, discrete-time systems and computer based control have become important topics. This monograph presents an output feedback sliding mode control philosophy which can be applied to almost all controllable and observable systems, while at the same time being simple enough as not to tax the computer too much. It is shown that the solution can be found in the synergy of the multirate output sampling concept and the concept of discrete-time sliding mode control.

Monsieur Vénus

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Publisher : Modern Language Association
ISBN 13 : 1603292551
Total Pages : 272 pages
Book Rating : 4.6/5 (32 download)

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Book Synopsis Monsieur Vénus by : Rachilde

Download or read book Monsieur Vénus written by Rachilde and published by Modern Language Association. This book was released on 2015-05-01 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: When the rich and well-connected Raoule de Vénérande becomes enamored of Jacques Silvert, a poor young man who makes artificial flowers for a living, she turns him into her mistress and eventually into her wife. Raoule's suitor, a cigar-smoking former hussar officer, becomes an accomplice in the complications that ensue.

Dynamique Non-linéaire Et Le Chaos

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Publisher :
ISBN 13 :
Total Pages : 130 pages
Book Rating : 4.:/5 (31 download)

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Book Synopsis Dynamique Non-linéaire Et Le Chaos by :

Download or read book Dynamique Non-linéaire Et Le Chaos written by and published by . This book was released on 1993 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: