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Contribution à la commande des robots manipulateurs mobiles

Abstract : This thesis focuses on the control part of robotic navigation. The objective is to propose new algorithms to contribute to the problem of motion control of mobile robot manipulators. This work is of interest in the design and real-time execution of a new intelligent, autonomous and more generic control algorithm, it has interesting advantages whose ease of implementation with the least knowledge about the system to be controlled, and does not require the know-how of a qualified user for implementation and parameterization. It mainly comprises two levels; a mechanism based on the fuzzy system and a modified algorithm of the ant colonies for the autonomous adjustment of the various parameters of a control law, and which provides a speed of computation in real time and a flexibility of executing in-line with the control law. And another level for the control law, by choosing a new hybrid approach, which combines a part of the optimal control, adaptive neural control, and robust adaptive control. In this sense, the algorithm goes beyond the simple role of control and optimization, and can be considered not only as another law to control with some robustness an unknown dynamic system but as a considerable extension which covers the most general case of the implementation of a control law and their parameterization
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Mohamed Boukens. Contribution à la commande des robots manipulateurs mobiles. Automatique / Robotique. Université de Jijel (Algérie); Université de Picardie Jules Verne, 2017. Français. ⟨tel-02498152⟩

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