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Sur la commande de systèmes non linéaires par gains robustes séquencés

Hael Khansah 1
1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : In this work, we developed a systematic approach to treat a particular problem in the nonlinear field, which relates to the fact of ensuring a stable transition between two operational points for a nonlinear system. This approach employs the gain scheduling strategy involving norm bounded uncertainty to approximate a nonlinear system by a family of uncertain linear systems. Around a set of equilibrium points, local robust control laws are determined in order to satisfy local performances. A sequencing strategy is determined to insure a stable transition. By a polynomial interpolation and continuation, a continuous control law is proposed featuring an open law term associated with a feedback one. We have adopted two synthesis procedures : state feedback and output feedback. In the first case, the robust control law scheduling is switched when the state trajectory reaches the attraction domain of the next equilibrium point. For the second, we determine output feedback, and the scheduling politic is based on robust state estimation. Some examples are considered to show the effectiveness of the method.
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Submitted on : Friday, August 24, 2007 - 11:20:17 AM
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  • HAL Id : tel-00168054, version 1

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Hael Khansah. Sur la commande de systèmes non linéaires par gains robustes séquencés. Mathématiques [math]. Université Paul Sabatier - Toulouse III, 2007. Français. ⟨tel-00168054⟩

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