Skip to Main content Skip to Navigation
Theses

Contrôle robuste des systèmes variant dans le temps : application au contrôle d'attitude modélisée par quaternion : Application au contrôle d’attitude modélisée par quaternion

Thomas Conord 1
1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This PhD thesis proposes methods of analysis and controller synthesis for Linear Time Varying systems. It considers the opportunity to extend to these systems the notions of poles location and input/output performance analysis dedicated to Linear Time Invariant systems. The proposed method concerns systems which varying parameters can be bounded inside a convex set described by a polytope. It enables to write as Linear Matrix Inequalities the problems of analysis and of static state feedback synthesis for these time-varying systems. A direct extension of these results can be made for systems which state space representation does not only have the property to be time-varying, but may also have the property of being nonlinear functions, possibly discontinuous, of the states and inputs, assuming these state matrices are bounded inside a polytope. This last result is eventually applied to the attitude control of a fully actuated three degrees of freedom rotating object, which rotational movement is modeled with the unit quaternion.
Document type :
Theses
Complete list of metadata

https://tel.archives-ouvertes.fr/tel-03448843
Contributor : Abes Star :  Contact
Submitted on : Thursday, November 25, 2021 - 1:37:34 PM
Last modification on : Monday, November 29, 2021 - 4:33:21 PM

File

2021TOU30081a.pdf
Version validated by the jury (STAR)

Identifiers

  • HAL Id : tel-03448843, version 2

Citation

Thomas Conord. Contrôle robuste des systèmes variant dans le temps : application au contrôle d'attitude modélisée par quaternion : Application au contrôle d’attitude modélisée par quaternion. Automatique. Université Paul Sabatier - Toulouse III, 2021. Français. ⟨NNT : 2021TOU30081⟩. ⟨tel-03448843v2⟩

Share

Metrics

Record views

51

Files downloads

38