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CONTRIBUTION À LA CARACTÉRISATION LPV D'UNE CLASSE DE SYSTÈMES NON LINÉAIRES POUR LA SYNTHÈSE DE LOIS DE POURSUITE ROBUSTE. APPLICATION À UN SYSTÈME SPATIAL.

Abstract : This work falls within the scope of control and modelling of non linear systems. It considers the problem of robust tracking control for a class of uncertain nonlinear differentially flat systems. The methodology consists in formulating the nonlinear flat uncertain system as a Linear Parameter Varying (LPV) system. It is based on the concept of exact feed forward linearization using flatness theory. First, it is shown how to generate a feasible desired output and the associated nominal control input trajectory by an “exogenous system” realizing the desired control objective. Next, a methodology to construct a nonlinear error model, which describes the dynamics of the tracking error due to external disturbances and model uncertainties, is derived. A first order linearization of the nonlinear error model is performed along the nominal trajectory in order to formulate the nonlinear system as a Linear Parameter Varying (LPV) system. Furthermore, recently LPV synthesis techniques are used to construct the global control law guaranteeing stability and performance in the presence of uncertainties. The design problem is formulated and solved as a finite set of Linear Matrix Inequalities (LMIs). Finally, the thesis investigates the application of the proposed methodology to robust trajectory tracking of a laboratory hydraulic process, then to the Atmospheric Re-entry Demonstrator guidance (ARD).
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https://tel.archives-ouvertes.fr/tel-00012135
Contributor : Madjid Zerar <>
Submitted on : Thursday, April 13, 2006 - 11:31:37 AM
Last modification on : Thursday, January 11, 2018 - 6:15:38 AM
Long-term archiving on: : Monday, September 17, 2012 - 1:36:32 PM

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  • HAL Id : tel-00012135, version 1

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Madjid Zerar. CONTRIBUTION À LA CARACTÉRISATION LPV D'UNE CLASSE DE SYSTÈMES NON LINÉAIRES POUR LA SYNTHÈSE DE LOIS DE POURSUITE ROBUSTE. APPLICATION À UN SYSTÈME SPATIAL.. Automatique / Robotique. Université Sciences et Technologies - Bordeaux I, 2006. Français. ⟨tel-00012135⟩

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