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Contribution à l'étude de la commande prédictive généralisée à temps continu des systèmes mécatronique

Abstract : The work presented in this memory is mainly devoted to the study of the continuous time generalize predictive control (CGPC) applied to mecatronic systems. It consists to a contribution to the analysis and the synthesis of a control law based on the minimization of a quadratic criterion. This control strategy is a well adapted control strategy, able to control a broad class of systems. Indeed, it applies as well to the unstable systems, as to the non minimum phase systems. An exact knowledge of the delay is not essential. Another scheme of predictive control was proposed, it consists in using the internal model control (IMC) based on CGPC minimization criterion. This method offers a good tracking trajectory to the CGPC, and gives the robustness benefits which the control structure offers. CGPC and IMC/CGPC robustness analysis made it possible to lay down some rules concerning the choice of adjustments parameters. Moreover, we examined the means of increasing the robust stability of the two algorithms, by using the concept of the LTR for the CGPC with observer, and by introducing a filter of robustness into the IMC/CGPC structure. In order to extend the predictive control to the nonlinear systems, a continuous time version of the Local Model Networks approach, based on the state space representation was proposed. Thus, a nonlinear control structure based on a balanced combination of CGPC regulators was established. Finally, another approach based on the combination between the predictive control and the sliding mode control CGPC/CMG is developed. This method showed its effectiveness and its performances in terms of static error almost null, and its regulation fastness in the presence of external disturbances. An experimental validation of the various algorithms was made on a three tanks system. The advantages as well as the limitations of the suggested control law were underlined.
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https://hal-uphf.archives-ouvertes.fr/tel-03000739
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Laid Kefsi. Contribution à l'étude de la commande prédictive généralisée à temps continu des systèmes mécatronique. Automatique / Robotique. Université de Valenciennes et du Hainaut-Cambrésis, 2007. Français. ⟨NNT : 2007VALE0026⟩. ⟨tel-03000739⟩

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