In the field of mobile robotics, many applications require feedback control laws that provide perfect path following. Previous work has shown that transverse feedback linearization is an effective approach to designing path following controllers that achieve perfect path following and path invariance. This thesis uses transverse feedback linearization and augments it with dynamic extension to present a framework for designing path following controllers for certain kinematic models of mobile robots. This approach can be used to design path following controllers for a large class of paths. While transverse feedback linearization makes the desired path attractive and invariant, dynamic extension allows the closed-loop system to achieve the desired motion along the path. In particular, dynamic extension can be used to make the mobile robot track a desired velocity or acceleration profile while moving along a path.

In this thesis, mathematical modeling and heuristic approaches are developed for surface-to-air weapon-target allocation problem with time varying single shot hit probabilities (SSHP) against linearly approaching threats. First, a nonlinear mathematical model for the problem is formulated to maximize sum of the weighted survival probabilities of assets to be defended. Next, nonlinear objective function and constraints are linearized. Time varying SSHP values are approximated with appropriate closed forms and adapted to the linear model obtained. This model is tested on different scenarios and results are compared with those of the original nonlinear model. It is observed that the linear model is solved much faster than the nonlinear model and produces reasonably good solutions. It is inferred from the solutions of both models that engagements should be made as late as possible, when the threats are closer to the weapons, to have SSHP values higher. A construction heuristic is developed based on this scheme. An improvement heuristic that uses the solution of the construction heuristic is also proposed. Finally, all methods are tested on forty defense scenarios. Two fastest solution methods, the linear model and the construction heuristic, are compared on a large scenario and proposed as appropriate solution techniques for the weapon-target allocation problems.

In modern wireless communication systems, advanced modulation techniques are used to support more users by handling high data rates and to increase the utilization efficiency of the limited RF spectrum. These techniques are sensitive to the nonlinear distortions due to their high peak to average power ratios. Main source of nonlinear distortion in transmitter topologies are power amplifiers that determine the overall efficiency and linearity of the transmitter. To increase linearity without sacrificing efficiency, power amplifier linearization techniques may be a choice. Baseband predistortion technique is known to be one of the optimum methods due to its relatively low complexity and its convenience for adaptation. In this thesis, different memoryless baseband signal predistortion methods are investigated and analyzed by simulations. Look-Up Table(LUT) and Polynomial approaches are compared and LUT approach is found to be better in performance. Parameters, like indexing, training sequences and training duration are evaluated. An open loop testbench is built with a real amplifier and a different LUT predistortion method that is based on amplifier modeling is offered. It is evaluated by using two tone test and adjacent channel power suppression with 8PSK data. Also, some Look-Up Table parameters are re-investigated with the proposed method. The performances of the proposed method in dierent amplifier classes are observed. Along with these studies, a list of prerequisites for design of a predistortion system is determined.

<p>This master's thesis deals with the control design method called Non-linear Dynamic Inversion (NDI) and how it can be applied to Unmanned Aerial Vehicles (UAVs). In this thesis, simulations are conducted using a model for the unmanned aerial vehicle SHARC (Swedish Highly Advanced Research Configuration), which Saab AB is developing. </p><p>The idea with NDI is to cancel the non-linear dynamics and then the system can be controlled as a linear system. This design method needs much information about the system, or the output will not be as desired. Since it is impossible to know the exact mathematical model of a system, some kind of robust control theory is needed. In this thesis integral action is used. </p><p>A problem with NDI is that the mathematical model of a system is often very complex, which means that the controller also will be complex. Therefore, a controller that uses pure NDI is only discussed, and the simulations are instead based on approximations that use a cascaded NDI. Two such methods are investigated. One that uses much information from aerodata tables, and one that uses the derivatives of some measured outputs. Both methods generate satisfying results. The outputs from the second method are more oscillatory but the method is found to be more robust. If the signals are noisy, indications are that method one will be better.</p>

In the field of mobile robotics, many applications require feedback control laws that provide perfect path following. Previous work has shown that transverse feedback linearization is an effective approach to designing path following controllers that achieve perfect path following and path invariance. This thesis uses transverse feedback linearization and augments it with dynamic extension to present a framework for designing path following controllers for certain kinematic models of mobile robots. This approach can be used to design path following controllers for a large class of paths. While transverse feedback linearization makes the desired path attractive and invariant, dynamic extension allows the closed-loop system to achieve the desired motion along the path. In particular, dynamic extension can be used to make the mobile robot track a desired velocity or acceleration profile while moving along a path.

La localisation d’un véhicule via les techniques de SLAM (Simultaneous Localization And Mapping pour cartographie et localisation simultanées) a connu un essor important durant les 20 dernières années. Pourtant, peu d’approches ont tenté d’étendre ces algorithmes à une flotte de véhicules malgré les nombreuses applications potentielles. C’est ici l’objectif de cette thèse. Pour ce faire, une approche de SLAM monoculaire pour un seul véhicule a d’abord été développée. Celle-ci propose de coupler un filtre de Kalman étendu avec une représentation cartésienne des amers afin de produire des cartes de faible densité mais de qualité. En effet, l’extension à plusieurs véhicules nécessite des échanges permanents par l’intermédiaire de communications sans fil. Avec peu d’amers dans les cartes, notre approche s’accommode bien du nombre de véhicules de la flotte. Des capteurs peu onéreux ont aussi été privilégiés (une unique caméra et un odomètre) afin de réduire le coût d’une extension multivéhicule. Des correctifs ont été proposés afin d’éviter les problèmes de divergence induits par les choix précédents. Des expérimentations ont montré que la solution de SLAM produite était légère et rapide tout en fournissant une localisation de qualité. La dérive, inhérente à tout algorithme de SLAM, a également fait l’objet d’une analyse. Celle-ci a été intégrée au SLAM par l’intermédiaire d’une architecture dédiée et d’un modèle dynamique. Le but est de pouvoir rendre consistante la localisation fournie par le SLAM, même en l’absence d’estimation de la dérive. Cela permet d’effectuer des fermetures de boucle ou encore d’intégrer des informations géo-référencées de manière naturelle tout en conservant l’intégrité de la solution. En multivéhicule, cet aspect est un point clef puisque chaque véhicule dérive différemment des autres. Il est donc important de le prendre en compte. Enfin, le SLAM a été étendu à plusieurs véhicules. Une structure générique a été prévue afin que notre approche monoculaire puisse être remplacée par n’importe quel algorithme de SLAM. Notre architecture décentralisée évite la consanguinité des données (le fait de compter deux fois une même information) et gère les défaillances réseau, que cela soit des ruptures de communication ou encore des latences dans la réception des données. La partie statique du modèle de dérive permet également de prendre en compte le fait que les positions initiales des véhicules d’une flotte puissent être inconnues. L’intégrité est ainsi maintenue en permanence. Enfin, notre approche étant entièrement décentralisée, elle a pu être testée et validée en simulation et avec des expérimentations réelles dans diverses configurations (convoi en colonne ou en ligne, avec 2 ou 3 véhicules). / The localization of a vehicle with the use of SLAM techniques (Simultaneous Localization And Mapping) has been extensively studied during the last 20 years. However, only a few approaches have tried to extend these algorithms to a fleet of vehicles despite the many potential applications. It is the objective of this thesis. First of all, a monocular SLAM for a single vehicle has been developed. This one proposes to pair an Extended Kalman Filter with a Cartesian representation for landmarks so as to produce accurate low density maps. Indeed, the extension of SLAM to several vehicles requires permanent communications inside the fleet. With only a few landmarks mapped, our approach scales nicely with the number of vehicles. Cheap sensors have been favored (a single camera and an odometer) in order to spread more easily the use of multi-vehicle applications. Correctives have been proposed in order to avoid the divergence problems induced by such a scheme. The experiments showed that our SLAM is able to furnish good localization results while being light and fast.The drift affecting every SLAM algorithm has also been studied. Its integration inside the SLAM process, thanks to a dedicated architecture and a dynamic model, allows to ensure consistency even without an estimation of it. Loop closures or the integration of geo-referenced information becomes straightforward. They naturally correct all the past positions while still maintaining consistency. In a multi-vehicle scenario, it is a key aspect as each vehicle drifts differently from one another. It is consequently important to take it into account. Our SLAM algorithm has then been extended to several vehicles. A generic structure has been used so as to allow any SLAM algorithm to replace our monocular SLAM. The multi-vehicle architecture avoids data incest (double-counting information) and handles network failures, be they communication breakdowns or latencies when receiving data. The static part of the drift model allows to take into account the fact that the initial positions of the different vehicles composing the fleet might be unknown. Consistency is thus permanently preserved. Our approach has been successfully tested using simulations and real experiments with various settings (row or column convoy with 2 or 3 vehicles) in a fully decentralized way.

The global greenhouse gas CO2 emission from the transportation sector is very significant. To reduce this gas emission, EU has set an average target of not more than 95 CO2/km for new passenger cars by the year 2020. A great reduction is still required to achieve the CO2 emission target in 2020, and many different approaches are being considered. This thesis focuses on the thermal management of the engine as an area that promise significant improvement of fuel efficiency with relatively small changes. The review of the literature shows that thermal management can improve engine efficiency through the friction reduction, improved air-fuel mixing, reduced heat loss, increased engine volumetric efficiency, suppressed knock, reduce radiator fan speed and reduction of other toxic emissions such as CO, HC and NOx. Like heat loss and friction, most emissions can be reduced in high temperature condition, but this may lead to poor volumetric efficiency and make the engine more prone to knock. The temperature trade-off study is conducted in simulation using a GT-SUITE engine model coupled with the FE in-cylinder wall structure and cooling system. The result is a map of the best operating temperature over engine speed and load. To quantify the benefit of this map, eight driving styles from the legislative and research test cycles are being compared using an immediate application of the optimal temperature, and significant improvements are found for urban style driving, while operation at higher load (motorway style driving) shows only small efficiency gains. The fuel consumption saving predicted in the urban style of driving is more than 4%. This assess the chance of following the temperature set point over a cycle, the temperature reference is analysed for all eight types of drive cycles using autocorrelation, lag plot and power spectral density. The analysis consistently shows that the highest volatility is recorded in the Artemis Urban Drive Cycle: the autocorrelation disappears after only 5.4 seconds, while the power spectral density shows a drop off around 0.09Hz. This means fast control action is required to implement the optimal temperature before it changes again. Model Predictive Control (MPC) is an optimal controller with a receding horizon, and it is well known for its ability to handle multivariable control problems for linear systems with input and state limits. The MPC controller can anticipate future events and can take control actions accordingly, especially if disturbances are known in advance. The main difficulty when applying MPC to thermal management is the non-linearity caused by changes in flow rate. Manipulating both the water pump and valve improves the control authority, but it also amplifies the nonlinearity of the system. Common linearization approaches like Jacobian Linearization around one or several operating points are tested, by found to be only moderately successful. Instead, a novel approach is pursued using feedback linearization of the plant model. This uses an algebraic transformation of the plant inputs to turn the nonlinear systems dynamics into a fully or predominantly linear system. The MPC controller can work with the linear model, while the actual control inputs are found using an inverse transformation. The Feedback Linearization MPC of the cooling system model is implemented and testing using MathWork Simulink®. The process includes the model transformation approach, model fitting, the transformation of the constraints and the tuning of the MPC controller. The simulation shows good temperature tracking performance, and this demonstrates that a MPC controller with feedback linearization is a suitable approach to thermal management. The controller strategy is then validated in a test rig replicating an actual engine cooling system. The new MPC controller is again evaluated over the eight driving cycles. The average water pump speed is reduced by 9.1% compared to the conventional cooling system, while maintaining good temperature tracking. The controller performance further improves with future disturbance anticipation by 20.5% for the temperature tracking (calculated by RMSE), 6.8% reduction of the average water pump speed, 47.3% reduction of the average valve movement and 34.0% reduction of the average radiator fan speed.

As válvulas de controle são elementos finais muito importantes na indústria de processos, pois são as responsáveis por controlar a pressão em dutos ou vazão dos fluidos de processo, impactando diretamente na qualidade do produto final. Por serem elementos mecânicos móveis estão sujeitas ao atrito, uma não linearidade que quando excessiva, pode causar oscilações e erros na abertura da válvula. A presença de oscilações nas malhas de controle aumenta a variabilidade das variáveis de processo, o desgaste dos componentes e o consumo de energia, além de provocar o desperdício de materiais. O desenvolvimento de novas técnicas de compensação de atrito é fundamental para melhorar o desempenho das malhas de controle, sendo, portanto, de grande interesse para a indústria de processos industriais. Este trabalho apresenta o estudo de cinco compensadores não lineares: controlador rastreador de trajetória, controlador por modos deslizantes, controlador por modos deslizantes integrador, controlador por modelo interno não linear e controlador PI não linear, os quais são desenvolvidos desde a teoria à implementação prática em uma válvula de controle real. Os resultados obtidos, mostram que os controladores projetados apresentaram desempenho bastante satisfatórios, sendo que o controlador por modos deslizantes e por modos deslizante integrador apresentaram os melhores desempenho. / Control valves are very important final elements in process industry, due they are the responsible to control the pressure in pipelines and the flow of the process fluids, directly impacting in the quality of the final product. Due to the mechanical mobile elements, they are subjected to friction, a nonlinearity that can generate oscillations and errors in the valve aperture. Oscillations in the control loops increase the process variability, wear in the actuators and the power consumption, besides generating raw material waste. The development of new friction compensation techniques is very important to increase the control loops performance, therefore, it is of great interest for the process industry. This work presents the study of five nonlinear compensators: Trajectory tracking controller, sliding mode controller, sliding mode controller integrator, nonlinear internal model controller and nonlinear PI controller, which ones are developed from theory to practical implementation in a real control valve. The results show that the controllers presented satisfactory performance, where the sliding mode controller and sliding mode control integrator presented the best performance.

Depuis la première génération de téléphone mobile, de nombreuses fonctions et outils ont été intégrés dans nos terminaux. Il y a vingt ans, nous utilisions nos téléphone pour émettre des appels et envoyer/recevoir des messages. Aujourd’hui, l’accès à internet, la radio, l’appareil photo, des jeux et de la musique sont des fonctionnalités que l’on retrouve dans nos téléphones mobiles.Dans un contexte de téléphonie pouvant adresse plusieurs standards, l’objectif de cette thèse est de concevoir et de réaliser l’implémentation d’une architecture capable d’améliorer la linéarité de notre émetteur pour le standard 3G, utilisant des composants analogiques et numériques. Pour cela, notre étude se concentrera sur l’amélioration de la linéarité, tout en maintenant une consommation la plus faible possible mais également tout en évitant d’augmenter la taille d’une puce 3G. Nous allons démontrer qu’il est possible d’intégrer une technique de linéarisation tout en maintenant une consommation et une surface en silicium.Le premier chapitre présente différentes architectures d’émetteurs et des techniques de linéarisation avec leurs avantages et inconvénients. Il est également présenté des moyens d’évaluer l’efficacité d’un émetteur par des simulations ou des mesures. L’objectif de cette partie est de choisir une technique de linéarisation à laquelle nous associerons une architecture d’émetteur afin de répondre le plus rigoureusement à notre application et ces contraintes émanant.Le second chapitre détaille le fonctionnement du système complet, la partie numérique et la partie analogique, s’appuyant sur des études théoriques. Nous commencerons en détaillant les contraintes et les précautions qui doivent être prises en compte par le concepteur afin d’étudier l’instabilité et le bruit produit par l’émetteur. Nous décrierons alors deux algorithmes numériques permettant de réaliser la correction des signaux. Des simulations au niveau système de la boucle Cartésienne seront également présenté utilisant, dans un premier temps un amplificateur de puissance idéal, pour ensuite utilisé un amplificateur de puissance réalisé en technologie BiCMOS, et finalement un amplificateur de puissance conçu en technologie CMOS, qui est celle choisie pour notre étude.Le troisième chapitre présente la synthèse de la partie numérique en technologie CMOS des deux algorithmes précédemment cités, elle prend en compte toutes les étapes ; du code VHDL jusqu’au layout, permettant de réaliser un circuit numérique. Ensuite, il est décrit chaque composant de la boucle cartésienne, avec leurs propres simulations ou mesures. De plus, il est important de garder à l’esprit que l’objectif de cette thèse repose sur l’intégration du système complet (partie analogique et numérique) en technologie CMOS 65nm de STMicroelectronics, démontrant ainsi la faisabilité de la solution.Dans un premier temps, nous décrirons la partie numérique permettant de réaliser les étapes de correction de phase et de soustraction des signaux en technologie ASIC. L’algorithme de CORDIC a pour avantage de minimiser la consommation et l’occupation en Silicium de la partie analogique. Par la suite, l’architecture et les spécifications de chaque brique de base constituant la partie analogique seront présentées. Dans notre cas, la chaîne directe est composée de filtres, de mélangeurs, et d'un amplificateur de puissance. Notre objectif est de réaliser ces trois fonctions avec le minium de consommation et une surface du circuit la plus faible possible, ceci permettant une intégration plus aisée.Finalement, les simulations système seront présentées utilisant le logiciel de simulation ADC (Advanced Design Software) d’Agilent pour la partie analogique. Des co-simulations ont été réalisées sur le système complet, utilisant SystemVue pour la partie numérique. Les simulations réalisant ADS nous ont fourni les performances de chaque brique de base s’appuyant sur les caractéristiques des transistors. / Since the first generation of mobile phones, a lot of functions, standards and tools have been integrated on handsets. Twenty years ago, consumers could use their mobile phones only to call and to send messages. Nowadays, internet access, radio, cameras, games and music are included and available as options for every mobile phone.All of these new services make the cost of production for a cellular phone more expensive. Despite that, industry has to find a solution to maintain their products the most attractive as possible including the large range of integrated functions.In the context of interaction with other standards, the aim of this thesis is to design and implement a chipset able to improve the linearity of a transmitter for third generation mobile phones, using both digital and analog technologies. For this purpose, the study will focus on the improvement of the linearity, keeping the consumption and the die area of the circuit as small as possible. We will prove that linearization on an integrated circuit is possible with almost the same consumption and die area occupation compared to a classic transmitter.The first chapter presents the different architectures used for a transmitter and various linearization techniques with their advantages and drawbacks. Some metrics are also presented in order to evaluate these architectures. The goal of this part is to choose a linearization technique associated to a transmitter in order to fit with our application and constraints.The second chapter explains the complete system, digital and analog parts, with theoretical studies. We will start by detailing the constraints and precautions that must be taken into account by the designer to study the instability and the noise generated by the transmitter. We will describe how two algorithms make signal corrections. In the last part we will show system level simulations of the Cartesian Feedback using, first, an ideal power amplifier (PA), then, a PA in a BiCMOS technology, and finally, a PA in a CMOS technology that will be used for the final integrated circuit.The third and last chapter shows the digital synthesis in a CMOS technology of the two algorithms previously mentioned, considering all steps, from the VHDL code until the layout of the digital part. We will describe and simulate each analog building block of the Cartesian Feedback, with the measurement results for some of them. Each chapter will be working towards the goal of this study, demonstrated in this part: to make an integrated system, with its complete solution and simulations.This chapter presents the integration of the analog and digital Cartesian Feedback described previously in 65nm CMOS technology from STMicroelectronics. First, the digital part generating the phase correction and subtraction will be shown in ASIC technology, with a CORDIC algorithm to reduce its consumption and size. Secondly, the architecture and specification of building blocks will be shown. In our case, the direct path is composed of filters, RF modulator and a Power Amplifier. Our objective is to design these three functions to minimize the consumption and the silicon area of the integrated architecture. Finally, system level simulations will be presented using the ADS (Advanced Design Software) from Agilent for the analog part. Co-simulations have been done to analyze the whole system, with SystemVue for the digital part. The simulations using ADS will provide the performance of each building block on the transistors level.

Cette thèse est consacrée à l’étude de la linéarisation géométrique locale des systèmes complètement intégrables dans la catégorie C1. Le sujet est la conjecture de linéarisation géométrique proposée (et établie dans le cadre analytique) par Nguyen Tien Zung. Nous commençons par les systèmes linéaires, puis introduisons la normalisation dans la catégorie formelle. Nous montrons qu’un système intégrable peut être décomposé en une partie hyperbolique et une partie elliptique. Nous établissons une bonne forme normale de Poincaré-Dulac pour les champs de vecteurs et discutons sa relation avec la linéarisation géométrique. Nous montrons que les systèmes intégrables faiblement hyperboliques sont géométriquement linéarisables en utilisant les outils de Chaperon. Nous étudions les systèmes intégrables sur les espaces de petite dimension : si celle-ci n’est pas plus grande que 4, alors la plupart des cas sont géométriquement linéarisables ; en particulier, la linéarisation géométrique est possible pour les systèmes intégrables de type de foyer-foyer. Enfin, nous généralisons la démonstration en grande dimension et proposons une condition sur les variétés fortement invariantes, sous laquelle nous linéarisons géométriquement les systèmes. Nous parvenons également à normaliser une action de R × T à plusieurs foyers en nous référant aux idées de Zung. / This thesis is devoted to the local geometric linearization of completely integrable systems in the C1 category. The subject is the geometric linearization conjecture proposed (and proved in the analytic case) by Nguyen Tien Zung. We start from linear systems and introduce normalization in the formal category. Wes how that an integrable system can be decomposed into a hyperbolic part and an elliptic part. We establish a good Poincaré-Dulac normal form for the vector fields and discuss its relation with geometric linearization. We prove that weakly hyperbolic integrable systems are geometrically linearizable byusing Chaperon’s tools. We then study integrable systems on small dimensional spaces: if the dimension is no more than 4, then most cases are geometrically linearizable; in particular,geometric linearization works for integrable system of focus-focus type. Finally, we generalize the proof to high dimensions and propose a condition about strongly invariant manifolds, under which we linearize the systems in the geometric sense. We also manage to normalize an R × T-action of several focuses by referring to the ideas of Zung.