Orientador: Vicente Lopes Júnior / Banca: Nobuo Oki / Banca: José Manoel Balthazar / Resumo: Este trabalho tem como propósito projetar controladores para aplicação em tempo real em uma estrutura flexível, objetivando a redução de vibração estrutural. Os controladores são projetados segundo o enfoque de otimização convexa, com formulações envolvendo desigualdades matriciais lineares (LMIs). Duas diferentes sínteses de realimentação são consideradas. A primeira é o projeto de controladores por realimentação de estados, estimados por um observador. A segunda metodologia é baseada no controle H∞ via realimentação do sinal de saída. O modelo matemático da estrutura, usado no projeto dos controladores, foi obtido utilizando o método de Lagrange. A estrutura considerada representa um modelo de um edifício flexível controlado por uma massa móvel (Active Mass Damper -AMD) localizada no topo. A estrutura é submetida a dois tipos de excitações, sísmica e senoidal. Uma mesa de vibração (Shake Table) foi usada para aplicar as excitações. Para rodar o experimento de controle foi usado uma placa de aquisição (MultiQ - PCI) e o software de controle Wincon. Os controladores foram desenvolvidos usando o Simulink e executado em tempo real usando o Wincon. Testes experimentais foram realizados para comprovação e avaliação das metodologias propostas. / Abstract: The proposal of this work is to design real time controllers for application in flexible structure, aiming the structural vibration reduction. The controllers are designed by convex optimization involving linear matrix inequalities (LMIs) approaches. Two different methodologies to feedback the system are explained. The first one is the design controller by state feedback based on observer. The second one is based on H∞ output feedback control. The mathematical model of the structure, used in the controller design, was obtained by Lagrange's method. The structure can represent a flexible building, and it is controlled by a driving mass located at the top. The structure is submitted to seismic and sinusoidal excitations. A vibration table (Shake Table) was used to apply the excitations. The experimental tests were realized using an acquisition board (MultiQ - PCI) and the Wincon control software. The controllers were developed using Simulink, and it run in real time using the Wincon software. Experimental tests were accomplished to validate and evaluate the proposal methodologies. / Mestre

Neste trabalho é apresentado um estudo comparativo entre quatro controladores H não lineares aplicados a um manipulador robótico com restrições de força e posição. Para estudar o comportamento de cada controlador as seguintes estratégias foram adotadas: (1) o modelo nominal do robô é considerado conhecido e são utilizadas técnicas inteligentes para estimar incertezas paramétricas, dinâmicas não modeladas e distúrbios externos; (2) O modelo do sistema é considerado completamente desconhecido e as técnicas inteligentes são utilizadas para estimar o modelo completo. As técnicas inteligentes utilizadas são baseadas em redes neurais e lógica fuzzy. Resultados experimentais baseados em um manipulador planar de três juntas rotacionais são apresentados, sendo que as restrições de posicionamento e forças são referentes ao movimento sobre uma linha reta. Ainda neste projeto é desenvolvido um sensor para medição de forças e momentos em três eixos ortogonais, sendo este sensor o dispositivo utilizado para fornecer informações necessárias para o controle do manipulador robótico com restrições / In this work, we present a comparative study among four H nonlinear controllers applied to a manipulator subject to position and force constraints. In order to study the behavior of each controller the following strategies have been adopted: (1) the nominal model of the robot is considered known and intelligent techniques are used to estimate parametric uncertainties, nonmodeled dynamics and external disturbances; (2) the system model is considered completely unknown and intelligent techniques are used to estimate the complete model. The intelligent techniques considered are based on neural networks and fuzzy logic. Experimental results based on a planar manipulator with three rotational joints are presented where position and force constraints refer to a movement on a straight line. To perform these experiments we developed a sensor to measure forces and moments in three orthogonal axes

Cette thèse se situe dans le cadre de l’analyse et de la synthèse des systèmes périodiques. Les contributions présentées dans ce mémoire portent sur la commande sous contraintes des systèmes linéaires discrets périodiques. Ces contraintes, portant sur l’état du système et/ ou sur la commande, peuvent être des contraintes de positivité ou de bornitude. Dans ce travail, des conditions d’analyse en stabilité et positivité des systèmes périodiques en termes de LMI (Inégalité Matricielle Linéaire) strictes, sont présentées. Ces outils d’analyse ont ensuite permis d’élaborer une loi de commande par retour d’état périodique. Les résultats obtenus sont exploités par la suite pour développer une commande par retour d’état périodique robuste pour les systèmes périodiques incertains. Des conditions de stabilisation robuste sont élaborées en utilisant la S-procédure. En outre, des conditions de stabilité et stabilisation par retour d’état périodique des systèmes périodiques avec retards sont établies. Le problème de stabilisation de ce type de systèmes sous un certain nombre de contraintes est résolu en suivant deux approches, la première est basée sur les techniques de Lyapunov la seconde fait appel à la programmation linéaire. Outre la notion de stabilité, la notion de performance des systèmes en boucle fermée est traitée. Pour cela, nous proposons une commande de type H∞ pour résoudre le problème de rejet de perturbations. / This thesis deals with the analysis and the control problem of periodic linear discrete systems (PLDS). The contributions presented in this work focuses on the constrained control of PLDS. Conditions for stability analysis and positivity are established in terms of strict LMI (Linear Matrix Inequalities). The stabilization of PLDS under the condition that the closed-loop system is positive and stable is addressed as well as the case of bounded state and/ or control variables. The obtained results are then extended to the synthesis of robust state feedback controllers, where some of which are based on the S − procedure technique. Furthermore, some conditions of stability and stabilization of PLDS with delays are established. The problem of stabilization of constrained PLDS is addressed based on the Lyapunov techniques or the Linear Programming techniques. The robust H∞ state feedback control in which both robust stability and a prescribed H∞ performance are required is investigated.

Neste trabalho é apresentado um estudo comparativo entre quatro controladores H não lineares aplicados a um manipulador robótico com restrições de força e posição. Para estudar o comportamento de cada controlador as seguintes estratégias foram adotadas: (1) o modelo nominal do robô é considerado conhecido e são utilizadas técnicas inteligentes para estimar incertezas paramétricas, dinâmicas não modeladas e distúrbios externos; (2) O modelo do sistema é considerado completamente desconhecido e as técnicas inteligentes são utilizadas para estimar o modelo completo. As técnicas inteligentes utilizadas são baseadas em redes neurais e lógica fuzzy. Resultados experimentais baseados em um manipulador planar de três juntas rotacionais são apresentados, sendo que as restrições de posicionamento e forças são referentes ao movimento sobre uma linha reta. Ainda neste projeto é desenvolvido um sensor para medição de forças e momentos em três eixos ortogonais, sendo este sensor o dispositivo utilizado para fornecer informações necessárias para o controle do manipulador robótico com restrições / In this work, we present a comparative study among four H nonlinear controllers applied to a manipulator subject to position and force constraints. In order to study the behavior of each controller the following strategies have been adopted: (1) the nominal model of the robot is considered known and intelligent techniques are used to estimate parametric uncertainties, nonmodeled dynamics and external disturbances; (2) the system model is considered completely unknown and intelligent techniques are used to estimate the complete model. The intelligent techniques considered are based on neural networks and fuzzy logic. Experimental results based on a planar manipulator with three rotational joints are presented where position and force constraints refer to a movement on a straight line. To perform these experiments we developed a sensor to measure forces and moments in three orthogonal axes

Cette thèse est dédiée à la pré-calibration des nouveaux systèmes d’aides à la conduite (ADAS). Le développement de ces systèmes est devenu aujourd’hui un axe de recherche stratégique pour les constructeurs automobiles dans le but de proposer des véhicules plus sûrs et moins énergivores. Cette thèse contribue à une vision méthodologique multi-critère, multi-modèle et multi-scénario. Elle en propose une instanciation particulière pour la pré-calibration spécifique au Lane Centering Assistance (LCA). Elle s’appuie sur des modèles dynamiques de complexité juste nécessaire du véhicule et de son environnement pour, dans le cadre du formalisme H2/H∞, formaliser et arbitrer les compromis entre performance de suivi de voie, confort des passagers et robustesse. Les critères élaborés sont définis de manière à être d’interprétation aisée, car directement liés à la physique, et facilement calculables. Ils s’appuient sur des modèles de perturbations exogènes (e.g. courbure de la route ou rafale de vent) et de véhicules multiples mais représentatifs, de manière à réduire autant que possible le pessimisme tout en embrassant l’ensemble des situations réalistes. Des simulations et des essais sur véhicules démontrent l’intérêt de l’approche. / This thesis deals with the tuning of the new Advanced Driving Assistance Systems (ADAS). The development of these systems has become nowadays a strategic line of research for the automotive industry towards the conception of safer and fuel-efficient vehicles.This thesis contributes to a multi-criterion, multi-modeland multi-scenario methodological vision of the tuning process. It is presented through a specific application of the tuning of the Lane Centering Assistance (LCA). It relies on vehicle and environment’s dynamical models of adequate complexity in the aim of formalizing and managing, in a H2/H∞ framework, the trade-off between performance, comfort and robustness. The formulated criteria are easy to compute and defined in a way to be understandable, closely linked to practical specifications. The whole methodology is driven by the research of a pertinent trade-off between realism (being as closest as possible to reality) and complexity (quick evaluation of the criterion). The efficiency and the robustness of the approach is demonstrated through high-fidelity simulations and numerous tests on real vehicles.

Submitted by TIAGO VERONESE ORTUNHO null (tiagoveronese@yahoo.com.br) on 2016-02-12T15:21:25Z No. of bitstreams: 1 dissertação_Tiago Veronese Ortunho.pdf: 9888051 bytes, checksum: daa0017b5f72b209761888978c268823 (MD5) / Approved for entry into archive by Ana Paula Grisoto (grisotoana@reitoria.unesp.br) on 2016-02-15T11:22:14Z (GMT) No. of bitstreams: 1 ortunho_tv_me_ilha.pdf: 9888051 bytes, checksum: daa0017b5f72b209761888978c268823 (MD5) / Made available in DSpace on 2016-02-15T11:22:14Z (GMT). No. of bitstreams: 1 ortunho_tv_me_ilha.pdf: 9888051 bytes, checksum: daa0017b5f72b209761888978c268823 (MD5) Previous issue date: 2015-12-21 / Nesta dissertação apresentam-se o princípio de funcionamento do motor de indução trifásico em regime permanente abordando os ensaios necessários para obtenção de seus parâmetros e as diferentes possibilidades de variação de velocidade. A partir disso, efetuou-se uma análise da modelagem dinâmica do motor, enfocando nas transformações de eixos, além de analisar os tipos de controle, escalar, vetorial direto e indireto (orientado pelo fluxo do rotor, pelo fluxo do estator e pelo fluxo do entreferro) e o controle direto de torque. Também se abordou os conversores CC - CA utilizados para o acionamento do motor de indução trifásico, juntamente com suas principais metodologias de modulação. Fez-se uma revisão do estado da arte dos sistemas de acionamento e controle mais estudados nos últimos anos sobre o assunto. Após, estudou-se os conceitos de estabilidade quadrática proposto por Lyapunov, juntamente com o controle H∞, os quais foram a base para o desenvolvimento de controladores robustos projetados no trabalho com desigualdade matriciais lineares (em inglês Linear Matrix Inequalities (LMIs)). Desenvolveram-se cinco tipos de controladores robustos com LMIs: o robusto, com taxa de decaimento (para sigma 1 e 10), H∞, H∞ com D-Estabilidade e H∞ com D-Estabilidade e realimentação da integral do erro de saída sendo que em todos o motor de indução trifásico foi orientado pelo fluxo do rotor. Os controladores foram projetados para quatro diferentes configurações, sendo considerados, primeiro caso - variação da velocidade (5 rad/s até a nominal); segundo caso - variação da velocidade e incerteza na resistência rotórica (3%); terceiro caso - variação na velocidade e incerteza na constante de tempo do rotor (5%); quarto caso - variação na velocidade e incertezas na constante de tempo do rotor (15%) e do estator (10%). Em todos os controladores projetados foram analisadas a resposta no tempo das saídas para uma entrada degrau unitário de distúrbio do torque de carga. Esta análise objetivou avaliar o comportamento do sistema, porém, para emular o sistema com maior fidelidade, foi montado no software Matlab/Simulink uma plataforma que contém o conjunto completo de acionamento, sistema de potência e controle, com alimentação trifásica, retificador de onda completa, barramento CC – CC, conversor CC – CA, motor de indução de indução trifásico e sensores. Esta plataforma possibilita desenvolver diversos testes no acionamento do motor de indução, além de facilitar a implementação e coleta de resultados com outras topologias de controladores. Nesta plataforma foram desenvolvidas simulações para o sistema sem carga e após 1,5 segundos aplicava-se um degrau de carga nominal no motor. Nesta plataforma analisaram-se o sistema em malha aberta com intuito de entender o comportamento do motor e, em malha fechada, foi simulado o sistema para os quatro casos de análise considerando os seis controladores robustos e o sistema com o controle clássico PI. Nas simulações foram observadas diversas formas de onda, as quais foram comparadas com os resultados do sistema em malha aberta e do controle PI. Os melhores resultados foram obtidos para os controladores H∞ com D-Estabilidade e H∞ com D-Estabilidade e realimentação da integral do erro de saída, pois, seguiram a referência de velocidade solicitada com um tempo de estabelecimento relativamente pequeno. Evidencia-se a viabilidade dos controladores e a possibilidade da implementação em bancada e ambiente industrial, os quais proporcionarão maior confiabilidade ao sistema de acionamento. / This research shows the steady state operating principle of triphasic induction motors to approach the tests necessary to obtain their parameters and different speed variation possibilities. After were performed an analysis of the dynamics of motor modeling, focusing on the transformation of axes, and analyzing the types of control, scalar, direct and indirect vector (guided by the rotor flux at the stator flux and flux air gap) and direct torque control. The converters CC – AC used to drive the induction motor are also aborded, along with their main methods of modulation. A review of the state of the art regarding the drives and control systems most studied in recent years on the subject is presented. After were studied the concepts of quadratic stability proposed by Lyapunov, together with the H∞ control, which were the basis for the development of robust controllers based on Linear Matrix Inequality (LMI). In this research were developed five types of robust controllers with LMI: the robust controller, the controller with decay rate (for sigma 1 and 10), H∞ controller, H∞ controller with D- Stability and H∞ controller with D- Stability and feedback the integral of output error, considering in all cases that the triphasic induction motor is driven by rotor flux. The controllers were designed for four different configurations and were considered the first case - the speed variation (5 rad/s up to the rated); second case - the speed variation and uncertainty in the rotor resistance (3%); third case - variations in speed and uncertainty in the rotor time constant (5%); fourth case - variations in speed and uncertainties in the rotor time constant (15%) and the stator (10%). In all researched controllers were analyzed the response time of the outputs for a unit step input load torque disturbance. This analysis aimed to evaluate system behavior, however, for a complete and rigorous analysis of the system, with greater fidelity, was set up in Matlab/ Simulink software a platform that contains the full set of drive, power and control system with three-phase power, full-wave rectifier, bus DC – DC, converter DC – AC, three-phase induction motor and sensors. This platform allows the simulation of various tests with induction motor drive, and also the implementation and result analysis using a broad class of controllers. Simulations of the system without load and considering a nominal engine load step applied after 1.5 seconds are presented. In this program were analyzed the open-loop system with the aim of understanding the motor behavior, and the closed loop system was simulated considering four cases, six robust controllers and the classic PI controller. The simulations display the waveforms of triphasic current and the line voltage of the MIT, the triggers for inverter drive, currents and voltages of the direct-axis and quadrature, the electromagnetic torque and speed. The best results were obtained for the H∞ controllers with D-Stability and H∞ with D-Stability and feedback of the integral of output error. The feedback system with this controller tracked the speed reference with a small setting time. Based on this results it is possible the application of this control technique in industrial environments.

Made available in DSpace on 2014-06-11T19:27:14Z (GMT). No. of bitstreams: 0 Previous issue date: 2008-02-21Bitstream added on 2014-06-13T20:55:56Z : No. of bitstreams: 1 santos_rb_me_ilha.pdf: 887891 bytes, checksum: 9cff877681cee249ea6c3466ef38a6ed (MD5) / Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP) / Este trabalho tem como propósito projetar controladores para aplicação em tempo real em uma estrutura flexível, objetivando a redução de vibração estrutural. Os controladores são projetados segundo o enfoque de otimização convexa, com formulações envolvendo desigualdades matriciais lineares (LMIs). Duas diferentes sínteses de realimentação são consideradas. A primeira é o projeto de controladores por realimentação de estados, estimados por um observador. A segunda metodologia é baseada no controle H∞ via realimentação do sinal de saída. O modelo matemático da estrutura, usado no projeto dos controladores, foi obtido utilizando o método de Lagrange. A estrutura considerada representa um modelo de um edifício flexível controlado por uma massa móvel (Active Mass Damper -AMD) localizada no topo. A estrutura é submetida a dois tipos de excitações, sísmica e senoidal. Uma mesa de vibração (Shake Table) foi usada para aplicar as excitações. Para rodar o experimento de controle foi usado uma placa de aquisição (MultiQ - PCI) e o software de controle Wincon. Os controladores foram desenvolvidos usando o Simulink e executado em tempo real usando o Wincon. Testes experimentais foram realizados para comprovação e avaliação das metodologias propostas. / The proposal of this work is to design real time controllers for application in flexible structure, aiming the structural vibration reduction. The controllers are designed by convex optimization involving linear matrix inequalities (LMIs) approaches. Two different methodologies to feedback the system are explained. The first one is the design controller by state feedback based on observer. The second one is based on H∞ output feedback control. The mathematical model of the structure, used in the controller design, was obtained by Lagrange’s method. The structure can represent a flexible building, and it is controlled by a driving mass located at the top. The structure is submitted to seismic and sinusoidal excitations. A vibration table (Shake Table) was used to apply the excitations. The experimental tests were realized using an acquisition board (MultiQ - PCI) and the Wincon control software. The controllers were developed using Simulink, and it run in real time using the Wincon software. Experimental tests were accomplished to validate and evaluate the proposal methodologies.

Les systèmes implicites (dits aussi « descripteurs ») peuvent décrire des processus régis à la fois par des équations dynamiques et statiques et permettent de préserver la structure des systèmes physiques. Ils comportent trois types de modes : dynamiques finis, infinis (réponse temporelle impulsive (en cas continu) ou acausale (en cas discret)) et statiques. Dans le cadre du formalisme descripteur, les contributions de cette thèse sont triples : i) revisiter des résultats existants pour les systèmes d’état, ii) étendre certains résultats classiques au cas des systèmes implicites, iii) résoudre rigoureusement des problèmes de commande non standard. Ainsi, le présent mémoire commence par revisiter les résultats concernant la caractérisation LMI stricte de la dissipativité, les caractérisations de l’admissibilité et des performances H2 ou H∞ par LMI étendues et les équations de Sylvester et de Riccati généralisées. Il aborde dans un deuxième temps, le problème de stabilisation simultanée, avec ou sans critère H∞, à travers l’extension de certains résultats récents au cas des systèmes implicites. La solution proposée s’appuie sur la résolution combinée d’une équation algébrique de Riccati généralisée (GARE) et d’un problème de faisabilité sous contrainte LMI stricte. Il traite enfin des problèmes H2 et H∞ non standards : i) en présence de pondérations instables voire impropres, ii) sous contraintes de régulation; dans le cas des systèmes implicites. Ces dernières contributions permettent désormais de traiter rigoureusement, sans approximations ou transformations, de nombreux problèmes H2 ou H∞ formalisant des problèmes pratiques de commande, dont ceux faisant intervenir une pénalisation haute fréquence de la commande ou un modèle interne instable des signaux exogènes. / The descriptor systems have been attracting the attention of many researchers over recent decades due to their capacity to preserve the structure of physical systems and to describe static constraints and impulsive behaviors. Within the descriptor framework, the contributions of this dissertation are threefold: i) review of existing results for state-space systems, ii) generalization of classical results to descriptor systems, iii) exact and analytical solutions to non standard control problems. A realization independent Kalman-Yakubovich-Popov (KYP) lemma and dilated LMI characterizations are deduced for descriptor systems. The solvability and corresponding numerical algorithms of generalized Sylvester equations and generalized algebraic Riccati equations (GARE) associated with descriptor systems are provided. In addition, the simultaneous H∞ control problem is considered through extending recently reported results. A sufficient condition is proposed through a combination of a generalized algebraic Riccati equation and a set of LMIs. Moreover, the nonstandard H2 and H∞ control problems with unstable and/or nonproper weighting functions or subject to regulation constraints are addressed. These contributions allow, without approximation or transformation, dealing with many practical problems defined within H2 or H∞ control methodologies, where the control signals are penalized at high frequency or unstable internal models specified by external signals is involved.

This dissertation addresses attitude control and inertial navigation of autonomous underwater vehicles (AUVs). We present theoretical justification for using simplified models, derive system identification algorithms, and verify our results through extensive field trials. Although this research focuses on small AUVs with limited instrumentation, the results are useful for underwater vehicles of any size. For attitude control of aircraft systems, second-order equivalent pitch-axis models are common and extensively studied. However, similar analysis has not been performed for the pitch-axis motion of underwater vehicles. In this dissertation, we study the utility and the limitations of second-order approximate models for AUVs. We seek to improve the flight performance and shorten the time required to re-design a control algorithm when the shape, mass-distribution, and/or net buoyancy of an AUV/payload configuration changes. In comparison to commonly implemented AUV attitude controllers, which neglect roll motion and address pitch and yaw dynamics separately, we derive a novel linear time-varying model that explicitly displays the coupling between pitch and yaw motion due to nonzero roll angle and/or roll rate. The model facilitates an Hâ control design approach that explicitly addresses robustness against those coupling terms and significantly reduces the effect of pitch and yaw coupling. To improve AUV navigation, we investigate algorithms for calibrating a triaxial gyroscope using angular orientation measurements and formally define AUV trajectories that are persistently exciting and for which the calibration coefficients are uniformly observable. To improve AUV guidance, we propose a near real-time ocean current identification method that estimates a non-uniform flow-field using only sparse flow measurements. / Ph. D.

Cette thèse présente une méthodologie de conception et d’évaluation de lois de commande pour projectiles guidés, au moyen d’un prototype placé dans une soufflerie via un support autorisant plusieurs degrés de liberté en rotation. Ce dispositif procure un environnement permettant à la fois de caractériser expérimentalement le comportement de la munition et d’évaluer les performances des lois de commande dans des conditions réalistes, et est mis en œuvre pour l’étude d’autopilotes de tangage et de lacet, à vitesse fixe et à vitesse variable, pour un prototype de projectile empenné piloté par canards. La modélisation d’un tel système aboutit à un modèle non-linéaire dépendant de nombreuses conditions de vol telles que la vitesse et des angles d’incidence. Les méthodes de séquencement de gain basées sur des linéarisations d’un modèle non-linéaire sont couramment employées dans l’industrie pour la commande de ce type de systèmes. A cette fin, le système est représenté au moyen d’une famille de modèles linéaires dont les paramètres sont directement estimés à partir de données recueillies sur le dispositif expérimental. L’observation du comportement à différents points de vol permet de considérer la vitesse de l’air comme unique variable de séquencement. La synthèse des différents contrôleurs est réalisée au moyen d’une méthode H∞ multi-objectifs à ordre et structure fixes, afin de garantir la stabilité et la robustesse du système vis-à-vis d’incertitudes liées à la variation du point de fonctionnement. Ces lois de commande sont alors validées au moyen d’analyses de robustesse, puis par leur implémentation sur le dispositif expérimental. Les résultats obtenus lors d’essais en soufflerie correspondent aux simulations numériques et sont conformes aux spécifications attendues. / This work presents a novel methodology for flight control law design and evaluation, using a functional prototype installed in a wind tunnel by the means of a support structure allowing multiple rotational degrees of freedom. This setup provides an environment allowing experimental characterization of the munition’s behavior, as well as for flight control law evaluation in realistic conditions. The design and validation of pitch and yaw autopilots for a fin-stabilized, canard-guided projectile is investigated, at fixed and variable airspeeds. Modeling such a system leads to a nonlinear model depending on numerous flight conditions such as the airspeed and incidence angles. Linearization-based gain scheduling techniques are widely employed in the industry for controlling this class of systems. To this end, the system is represented with a family of linear models whose parameters are directly estimated from experimentally collected data. Observation of the projectile’s behavior for different operating points indicates the airspeed can be considered as the only scheduling variable. Controller synthesis is performed using a multi-objective, fixed-order, fixed-structure H∞ technique in order to guarantee the stability and robustness of the closed-loop against operating point uncertainty. The obtained control laws are validated with robustness analysis techniques and are then implemented on the experimental setup, where wind-tunnel tests results correlate with numerical simulations and conform to the design specifications.