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Nouvelles approches pour la synthèse de lois de commande non linéaires robustes. Application à un actionneur électropneumatique et proposition d'une solution au problème de redécollage

Abstract : Part of the work presented in this thesis is inspired by the mathematical model written as "semi strict feedback" form of the electro-pneumatic cylinder within Ampere Laboratory's in the " Fluid Power Center". Indeed, this model has led to a deepening of research on the synthesis of robust nonlinear control laws of systems written as "strict feedback" form in general. Thus, two approaches are developed to direct the development of control laws in continuous mono and multidimensional trajectory tracking. The global exponential stability of equilibrium point is proved for the nominal system. The proof of Input-State Stability is also proposed in the case of parametric variations or poorly modeled dynamics. In addition, a solution to the problem of trajectory tracking for a class of nonlinear systems mono-dimensional as "strict feedback" with a minimum or non-minimum internal dynamic phase is set. After a review of used simulation and control models, the implementation of the proposed approaches electro-pneumatic actuator is then described. The experimental results are convincing and have filled the benchmark of the overall work of the group "Automation, Control and Mechatronics" laboratory by extending the comparative table initialized in 1999 control laws applied to this type of actuator. Finally, a solution is proposed to solve the problem of the "Stick-Slip". This phenomenon, encountered by the group for many years concerning all linear and nonlinear, mono and multidimensional control laws studied in the laboratory. It results in a jerky movement of the actuator when the position trajectories include static phases. It follows from the existence of dry friction and the fact that the system achieves at these plans only a mechanical equilibrium, meanwhile pressures in the rooms continue to evolve. To overcome this drawback, the last part of this thesis proposes to switch the control law on two regulation pressures when the system reaches the partial equilibrium. This technique is finally implemented and its effectiveness is proven.
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Karima Turki. Nouvelles approches pour la synthèse de lois de commande non linéaires robustes. Application à un actionneur électropneumatique et proposition d'une solution au problème de redécollage. Sciences de l'ingénieur [physics]. INSA de Lyon, 2010. Français. ⟨tel-00564361⟩

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