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Contribution à la commande robuste des systèmes non linéaires incertains : application à un système hydraulique

Abstract : The work presented in this thesis is part of the robust and adaptive control of highly nonlinear systems and treats an application on an interconnected hydraulic system. The first part of the report presents the principles of operation of the sliding mode, its robustness and its use for the synthesis of controllers dedicated to the badly modelled physical systems. This part also consists of the study of controllers involving the techniques of higher order sliding modes. Different control laws were tested for robust compensation of errors due to ignorance of the disturbance and system parameters. To make possible the practical implementation of the controller, we settled as objective to realize robust differentiator by higher order sliding modes to estimate or derive the noisy measurement. The second part concerns the development by experiment of the controller based on backstepping adaptive and its combination with sliding modes. Two distinct approaches are studied. The first is the classical backstepping, which idealizes the system but facilitates the design of the controller. The second approach is the adaptive version, it takes into account the disturbances and uncertain parameters and corrects the error by adapting these parameters in real-time. While the majority of applications in the literature was carried out on systems under strict feedback form, we propose to implement it on the three tank system which is in a general form. The advantage of this control algorithm is that it solves the overparametrization problem. We also presented a method of synthesis of control laws for adaptive backstepping sliding mode, adapted well to this type of problem. This last offer a means of synthesis of the sliding surfaces, we also note a better transitory behaviour during sudden disturbance rejection. In order to optimize the algorithm and to reduce its computation time and thus obtain desirable performance in the practical implementation, we proposed a new combination between the adaptive backstepping and second order sliding mode. The proposed control techniques have been successfully established on an uncertain hydraulic system strongly nonlinear.
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Rabiâ Benayache. Contribution à la commande robuste des systèmes non linéaires incertains : application à un système hydraulique. Automatique. Université de Valenciennes et du Hainaut Cambraisis, 2009. Français. ⟨NNT : 2009VALE0029⟩. ⟨tel-03064452⟩

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