Contribution to Robust Control Synthesis Application to Robotics or Aerodynamics Systems

الموضوعات

علوم تطبيقية وتكنولوجية

الملخص

AbstractThis thesis contributes to the development of robust control design strategies for uncertain nonlinear mimo systems, in which a model based control approach robust control(H2,H1) framework is introduced and an intelligent control model free control is suggested.In reality an allusion to the Modelizations of the systems CE 150 and TRMS is proposedfor the research seems important because they are prerequisite to test the designed robustcontrol law. The investigation starts by a neighboring optimal control law which is coupledwith estimation to solve the trajectory tracking and/or regulator problem of a twin-rotormulti-input multi-output system (TRMS) is introduced. The above mentioned techniqueis applied through the linearization of the TRMS model around its operating point.Since CE-150 helicopters are known for their varying operating conditions along withexternal disturbances, a local model network H1 control is proposed as a second alternative, for CE-150 helicopter stabilization. The proposed strategy capitalizes on recentdevelopments on H1 control and its promising results in robust stabilization of plantsunder unstructured uncertainties. Using the fact that the system can be linearized atdiferent operating points, a mixed sensitivity H1 controller is designed for the linearizedsystem, and combined within a network to make transitions between them. The proposedcontrol structure ensures robustness, decoupling of the system dynamics while achievinggood performance.Alternatively, another approach interval type-2 fuzzy controller is proposed for TRMScontrol problem because of and owing to, respectively, the nuance existing between modelbased control approach and model free control, and their simplicity and e�ciency. Themain strength of the proposed control algorithm is its robustness with respect to parametricuncertainties and noise measurement. The suggested approaches are validated througha set of computer simulations which illustrate the et ectiveness of the proposed controlscheme; the obtained results are presented to illustrate the controller's performance invarious operating conditions, and have been successfully applied.A custom real-time control platform design for a quadrotor is introduced and the controlframework is designed to be universal but yet,exible for implementation of various controland navigation algorithms. The developed platform is modular and is presented in threecategories: hardware, software and communication. System identification is also presentedfor parameters measurement and estimation. Moreover, a ground station with a graphicaluser interface is designed for remote control and monitoring. A wireless bidirectionalcommunication unit is also designed to bridge the quadrotor and the ground station. Thedeveloped cost e�ective control platform is validated by simulation and experimental test

روابط وملفات

التعريف والنوع

رقم الوثيقة

04f6b683-c1aa-4269-8d53-a0746c711278

رقم العقد

0

نوع الوسائط

Crawler

نوع المحتوى

الرسائل العلمية

صيغة المصدر

رسائل دكتوراة

نوع الملف

pdf text

أسماء الملفات

342711_1.pdf

بيانات النشر

ألقاب المؤلفين

[{"name_ar":"Abderrazak Debilou","title_ar":"اشراف","title_en":"Supervision"},{"name_ar":"Mohamed Redouane Kafi","title_ar":"اعداد","title_en":"Preparation"}]

اللغة

English

المصدر والدورية

اسم المصدر

Contribution to Robust Control Synthesis Application to Robotics or Aerodynamics Systems

المحتوى والصفحات

عدد الصفحات

0

إشراف وإعداد

الإشراف

Abderrazak Debilou

الإعداد

Mohamed Redouane Kafi

الاقتباسات الببليوغرافية