Les grands robots marcheurs sont des systèmes mécatroniques poly-articulés complexes qui cristallisent la volonté des humains de conférer leurs capacités à des artefacts, l’une d’entre elle étant la locomotion bipède, et plus particulièrement la conservation de l’équilibre face à des perturbations extérieures. Cette thèse propose un stabilisateur postural ainsi que sa mise en œuvre sur le système locomoteur BIP 2000.Ce robot anthropomorphique possède quinze degrés de libertés actionnés par moteurs électriques et a reçu un nouvel automate ainsi que des variateurs industriels lors de la mise à jour réalisée dans le cadre de ces travaux. Un contrôleur a été conçu et implémenté en suivant les principes de la programmation orientée objet afin de fournir une modularité qui s’inspire de la symétrie naturelle des humanoïdes. Cet aspect a conduit à l’élaboration d’un ensemble d’outils mathématiques permettant de calculer l’ensemble des modèles d’un robot composé de sous-robots dont on connaîtrait déjà les modèles. Le contrôleur permet notamment à la machine de suivre des trajectoires calculées hors ligne par des algorithmes de génération de marches dynamiques ainsi que de tester le stabilisateur postural.Ce dernier consiste en un contrôle en position du robot physique par la consigne d’un robot virtuel de modèle dégradé, commandé en effort, soumis à des champs électrostatiques contraignant sa configuration articulaire. Les tests effectués ont permis de montrer la faisabilité de la méthode. / Big walking robots are complex multi-joints mechanical systems which crystallize the human will to confer their capabilities on artefacts, one of them being the bipedal locomotion and more especially the balance keeping against external disturbances. This thesis proposes a balance stabilizer under operating conditions displayed on the locomotor system BIP 2000.This anthropomorphic robot has got fifteen electrically actuated degree of freedom and an Industrial controller. A new software has been developed with an object-oriented programming approach in order to propose the modularity required by the emulated and natural human symmetry. This consideration leads to the development of a mathematical tool allowing the computation of every modelling of a serial robot which is the sum of multiple sub robots with already known modelling. The implemented software also enables the robot to run offline generated dynamic walking trajectories and to test the balance stabilizer.We explore in this thesis the feasibility of controlling the center of gravity of a multibody robotic system with electrostatic fields acting on its virtual counterpart in order to guarantee its balance. Experimental results confirm the potential of the proposed approach.

Cette thèse s'inscrit dans le cadre de la conception des systèmes mécatroniques. Les travaux se positionnent dans les premières phases du cycle de conception, là où les principaux efforts méthodologiques sont à mener pour améliorer la qualité et la fonctionnalité des produits, et reposent sur le prototypage virtuel (modélisation et simulation). Une approche méthodologique envisageable est de reformuler le problème de conception sous une forme inverse, pour directement utiliser les spécifications du cahier des charges, usuellement exprimées sur les sorties, pour calculer les inconnues du problème. Dans ce contexte, le laboratoire Ampère développe une méthodologie de conception et dimensionnement, basée sur l'inversion de modèle, utilisant le formalisme bond graph, pour proposer une démarche reposant sur des critères dynamiques et énergétiques, et dont la principale originalité est sa phase d'analyse structurelle, permettant une hiérarchisation d’analyse suivant différents niveaux de la structure physique du modèle (topologie, phénoménologie, paramétrage). L'objectif est de contribuer au développement de cette méthodologie, en l’étendant aux modèles appartenant à la classe des systèmes singuliers, porté par la velléité de décliner la démarche à la conception fonctionnelle du châssis automobile et de ses sous-systèmes, comportant un certain nombre d'abstractions de modélisation et d'idéalisations. Cette déclinaison est proposée, d’une part, au niveau de la structure du modèle et, d’autre part, à un niveau considérant sa phénoménologie et ses lois de comportement. Elle requiert la mise en place préalable d'un référentiel algébrique, essentiellement issu de travaux sur la commande des systèmes, pour constituer une base de validation des extensions graphiques (digraphe et bond graph) proposées. En plus de la généralisation qu'ils constituent à la classe des modèles singuliers, les présents travaux proposent une uniformisation des précédentes approches de la méthodologie, originellement appliquées respectivement aux modèles directs et aux modèles inverses, de sorte qu'il n'est à présent plus nécessaire de les différencier. / The context of this PhD thesis is the modeling and design of mechatronic systems. The study is positioned in the early design stage of the conception cycle (V-Cycle), where the main efforts have to be produced in terms of methodology, to enhance the quality and the functionality of the products, and based on virtual prototyping (modeling and simulation). One of the possible methodology is to reformulate the design problem as an inverse problem, in order to directly use the design specification of the product, usually given in terms of the system outputs, and then solve the design problem. In this context, the Ampere laboratory of INSA Lyon has developed a conception and design methodology, based on inverse approach and using the bond graph formalism, to propose a step-by-step method based on dynamic and energetic criteria, with a structural analysis phase that allows hierarchical analysis steps, depending on the structural physical layout of the model (topological, phenomenological, parameter set). The aim of the present works is to contribute to the development of this methodology, by enhancing it to the class of descriptor systems. This choice is led by the aim to apply the methodology in the context of chassis design and vehicle dynamics, where, among other, multi-body models represented as a differential-algebraic equation (DAE) system could occur. The contributions are proposed at the level of the topology of the model, as well as at the level of the phenomenological / behavioral aspects. A preliminary step is to enhance the existing algebraic framework to support graphical extension (in term of digraph and bond graph). The overall methodological extensions allow, firstly, a generalization of the approach to the class of descriptor systems, and, secondly, to reach a standardization of the procedures, previously dedicated to direct or inverse models, so as no mandatory differences between those models have to be done anymore.

Este trabalho apresenta o desenvolvimento e as análises de técnicas de controle aplicadas a uma base de movimento de um simulador de vôo. Nos primeiros capítulos são abordados aspectos relacionados com a simulação de movimentos. Uma breve descrição da dinâmica da aeronave e o desenvolvimento do algoritmo de movimento (washout filter) são apresentados. O modelo dinâmico da base de movimento é desenvolvido baseado num manipulador paralelo de seis graus de liberdade chamado de plataforma de Stewart acionado eletricamente. As equações de movimento do atuador eletromecânico são incluídas no modelo dinâmico da plataforma. O controle baseado na dinâmica inversa é uma alternativa para abordar o controle de sistema mecânicos não lineares como a plataforma de Stewart. Porém, essa técnica considera o conhecimento exato do modelo dinâmico do sistema, portanto, a dinâmica não modelada, as incertezas paramétricas e as perturbações externas podem degradar o desempenho do controlador. Além disso, o custo computacional pago pelo cálculo do modelo dinâmico realizado online é muito alto. Nesse contexto, duas estratégias de controle foram aplicadas na malha externa da estrutura de controle baseada na dinâmica inversa para o controle de aceleração na presença de incertezas paramétricas e da dinâmica não modelada, os quais foram introduzidas intencionalmente no processo de aproximar o modelo dinâmico com o objetivo de simplificar a implementação do controle baseado na dinâmica inversa. Na primeira estratégia, o termo robusto de controle foi projetado, provando a estabilidade do sistema linearizado por meio da teoria de estabilidade de Lyapunov. Este controle apresenta o fenômeno conhecido como chattering e então foi adotada uma função de saturação para substituir a lei de controle. Na segunda estratégia, o termo robusto de controle foi projetado considerando um problema de rejeição de distúrbio via controle H \'INFINITO\', onde o controlador considera as incertezas como distúrbios afetando o sistema linearizado resultante da aplicação do controle baseado na dinâmica inversa. Finalmente, três tipos de testes foram realizados para avaliar o sistema de controle: função descritiva, limiar dinâmico e algumas manobras da aeronave calculadas a partir do modelo dinâmico e transformadas através do algoritmo de movimento. As duas estratégias de controle foram comparadas. / This work presents the development and analysis of control techniques applied to a flight simulator motion base. The first chapters deal with subjects related to motion simulation. A brief description of the aircraft dynamic model and the development of the motion algorithm (washout filter) are presented. The motion base dynamics is derived based on a six degree of freedom parallel manipulator driven by electromechanical actuators. The six degree of freedom parallel manipulator is called Stewart platform. The motion equations of the electromechanical actuators are included in the motion base dynamics. Inverse dynamics control is an approach to nonlinear control design, nonetheless, this technique is based on the assumption of exact cancellation of nonlinear terms, therefore, parametric uncertainty, unmodeled dynamics and external disturbances may deteriorate the controller performance. In addition, a high computational burden is paid by computing on-line the complete dynamic model of the motion-base. Robustness can be regained by applying robust control tecniques in the outer loop control structure. In this context, two control strategies were applied in the outer loop of the inverse dynamics control structure linearized system for robust acceleration tracking in the presence of parametric uncertainty and unmodeled dynamic, which are intentionally introduced in the process of approximating the dynamic model in order to simplify the implementation of this approach, the inverse dynamic control. Both control strategies consist of introducing an additional term to the inverse dynamics controller which provides robustness to the control system. In the first strategy, the robust control term was designed proving the stability of the linearized system in the presence of uncertainties, using the Lyapunov stability theory. This control term presents a phenomenon known as chattering. Therefore, a saturation function was adopted to replace the control law. In the second strategy, the robust term was designed for a disturbance rejection problem via H \'INFINITE\' control, where the controller considers the uncertaities as disturbances affecting the linearized system resulting from the application of the inverse dynamic control. Finally, describing function, dynamic threshold and some maneuvers computed from the washout filter were used to evaluate the performance of the controllers. Both approaches were compared.

Este trabalho apresenta o desenvolvimento e as análises de técnicas de controle aplicadas a uma base de movimento de um simulador de vôo. Nos primeiros capítulos são abordados aspectos relacionados com a simulação de movimentos. Uma breve descrição da dinâmica da aeronave e o desenvolvimento do algoritmo de movimento (washout filter) são apresentados. O modelo dinâmico da base de movimento é desenvolvido baseado num manipulador paralelo de seis graus de liberdade chamado de plataforma de Stewart acionado eletricamente. As equações de movimento do atuador eletromecânico são incluídas no modelo dinâmico da plataforma. O controle baseado na dinâmica inversa é uma alternativa para abordar o controle de sistema mecânicos não lineares como a plataforma de Stewart. Porém, essa técnica considera o conhecimento exato do modelo dinâmico do sistema, portanto, a dinâmica não modelada, as incertezas paramétricas e as perturbações externas podem degradar o desempenho do controlador. Além disso, o custo computacional pago pelo cálculo do modelo dinâmico realizado online é muito alto. Nesse contexto, duas estratégias de controle foram aplicadas na malha externa da estrutura de controle baseada na dinâmica inversa para o controle de aceleração na presença de incertezas paramétricas e da dinâmica não modelada, os quais foram introduzidas intencionalmente no processo de aproximar o modelo dinâmico com o objetivo de simplificar a implementação do controle baseado na dinâmica inversa. Na primeira estratégia, o termo robusto de controle foi projetado, provando a estabilidade do sistema linearizado por meio da teoria de estabilidade de Lyapunov. Este controle apresenta o fenômeno conhecido como chattering e então foi adotada uma função de saturação para substituir a lei de controle. Na segunda estratégia, o termo robusto de controle foi projetado considerando um problema de rejeição de distúrbio via controle H \'INFINITO\', onde o controlador considera as incertezas como distúrbios afetando o sistema linearizado resultante da aplicação do controle baseado na dinâmica inversa. Finalmente, três tipos de testes foram realizados para avaliar o sistema de controle: função descritiva, limiar dinâmico e algumas manobras da aeronave calculadas a partir do modelo dinâmico e transformadas através do algoritmo de movimento. As duas estratégias de controle foram comparadas. / This work presents the development and analysis of control techniques applied to a flight simulator motion base. The first chapters deal with subjects related to motion simulation. A brief description of the aircraft dynamic model and the development of the motion algorithm (washout filter) are presented. The motion base dynamics is derived based on a six degree of freedom parallel manipulator driven by electromechanical actuators. The six degree of freedom parallel manipulator is called Stewart platform. The motion equations of the electromechanical actuators are included in the motion base dynamics. Inverse dynamics control is an approach to nonlinear control design, nonetheless, this technique is based on the assumption of exact cancellation of nonlinear terms, therefore, parametric uncertainty, unmodeled dynamics and external disturbances may deteriorate the controller performance. In addition, a high computational burden is paid by computing on-line the complete dynamic model of the motion-base. Robustness can be regained by applying robust control tecniques in the outer loop control structure. In this context, two control strategies were applied in the outer loop of the inverse dynamics control structure linearized system for robust acceleration tracking in the presence of parametric uncertainty and unmodeled dynamic, which are intentionally introduced in the process of approximating the dynamic model in order to simplify the implementation of this approach, the inverse dynamic control. Both control strategies consist of introducing an additional term to the inverse dynamics controller which provides robustness to the control system. In the first strategy, the robust control term was designed proving the stability of the linearized system in the presence of uncertainties, using the Lyapunov stability theory. This control term presents a phenomenon known as chattering. Therefore, a saturation function was adopted to replace the control law. In the second strategy, the robust term was designed for a disturbance rejection problem via H \'INFINITE\' control, where the controller considers the uncertaities as disturbances affecting the linearized system resulting from the application of the inverse dynamic control. Finally, describing function, dynamic threshold and some maneuvers computed from the washout filter were used to evaluate the performance of the controllers. Both approaches were compared.