[ES] La presente tesis aborda la Interacción Humano-Robot para tareas industriales de tratamiento superficial, con el objetivo de obtener una verdadera sinergia entre el operador humano y el sistema robotizado, así como un funcionamiento robusto. En concreto, la tesis establece las bases sobre las cuales un robot con asistencia por teleoperación o autónomamente interacciona con los humanos y con los otros robots en la zona de trabajo. Las propuestas se validan mediante experimentación real utilizando hasta dos robots manipuladores 6R y 7R respectivamente. Las principales contribuciones son: - Asistencia robótica para el lijado industrial con aproximación suave a la superficie y restricciones de límite - Control de robots bimanuales usando teleoperación asistida para tareas de tratamiento superficial - Interfaz basada en Realidad Aumentada para la teleoperación de robots bimanuales La aplicación de técnicas de Control en Modo Deslizante (SMC, por sussiglas en inglés) tanto convencional como no convencional y una arquitectura de control basada en prioridades son las herramientas clave para el desarrollo de estas contribuciones. / [CA] La present tesi aborda la Interacció Humà-Robot per a tasques industrials de tractament de superfícies, amb l'objectiu d'obtindre una veritable sinergia entre l'operador humà i el sistema robotitzat, així com un funcionament robust. En concret, la tesi estableix les bases sobre les quals un robot amb assistència per teleoperació o autònomament interacciona amb els humans i amb els altres robots a la zona de treball. Les propostes es validen mitjançant experimentació real utilitzant fins a dos robots manipuladors 6R i 7R, respectivament. Les principals contribucions són: - Assistència robòtica per al poliment industrial amb aproximació suau a la superfície i restriccions de límit - Control de robots bimanuals emprant teleoperació assistida per a tasques de tractament superficial - Intefaç basada en Realitat Augmentada per a la teleoperació de robots bimanuals L'aplicació de tècniques de Control en Mode Lliscant (SMC, per les seues sigles en anglés)tant convencional com no convencional i una arquitectura de control basada en prioritats són les eines clau pel desenvolupament d'aquestes contribucions. / [EN] The present thesis work addresses Human-Robot Interaction for industrial surface treatment tasks, aiming to attain a true synergy between the human operator and the robot system, as well as a robust performance. Specifically, this thesis establishes the basis on which a robot, either assisted by teleoperation or working autonomously, interacts with humans and with other robots in its working area. These proposals are validated through real experimentation using up to two robot manipulators, 6R and 7R respectively. The main contributions are: - Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints - Bimanual robot control using assisted teleoperation for surface treatment tasks - Augmented reality-based interface for bimanual robot teleoperation The appliance of conventional and non-conventional Sliding Mode Control (SMC) techniques and a priority-based control architecture are the fundamental tools for the development of these contributions. / García Fernández, A. (2023). Robust human-robot collaboration for polishing tasks in the automotive industry [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/198673

Este trabalho aborda o problema de controle ótimo por modos deslizantes via função penalidade para sistemas de tempo discreto. Para resolver este problema será desenvolvido uma estrutura matricial alternativa baseada no problema de mínimos quadrados ponderados e funções penalidade. A partir desta nova formulação é possível obter a lei de controle ótimo por modos deslizantes, as equações de Riccati e a matriz do ganho de realimentação através desta estrutura matricial alternativa. A motivação para propormos essa nova abordagem é mostrar que é possível obter uma solução alternativa para o problema clássico de controle ótimo por modos deslizantes. / This work introduces a penalty function approach to deal with the optimal sliding mode control problem for discrete-time systems. To solve this problem an alternative array structure based on the problem of weighted least squares penalty function will be developed. Using this alternative matrix structure, the optimal sliding mode control law of, the matrix Riccati equations and feedback gain were obtained. The motivation of this new approach is to show that it is possible to obtain an alternative solution to the classic problem of optimal sliding mode control.

L'intégration des liaisons à courant continu dans les systèmes électriques permet d’accroitre les possibilités de pilotage des réseaux, ce qui permet d’en améliorer la sûreté et de raccorder de nouveaux moyens de production. Pour cela la technologie VSC-HVDC est de plus en plus plébiscitée pour interconnecter des réseaux non synchrones, raccorder des parcs éoliens offshore, ou contrôler le flux d’énergie notamment sur des longues distances au travers de liaisons sous-marines (liaison NorNed). Les travaux de cette thèse portent sur la modélisation, la commande non-linéaire et la stabilisation des systèmes VSC–HVDC, avec deux axes de travail. Le premier se focalise sur la conception et la synthèse des lois de commandes non-linéaires avancées basées sur des systèmes de structures variables (VSS). Ainsi, les commandes par modes glissants (SMC) et le suivi asymptotique de trajectoire des sorties (AOT) ont été proposées afin d’assurer un degré désiré de stabilité en utilisant des fonctions de Lyapunov convenables. Ensuite, la robustesse de ces commandes face à des perturbations et/ou incertitudes paramétriques a été étudiée. Le compromis nécessaire entre la robustesse et le comportement dynamique requis dépend du choix approprié des gains. Ces approches robustes, qui sont facile à mettre en œuvre, ont été appliquées avec succès afin d’atteindre des performances dynamiques élevées et un niveau raisonnable de stabilité vis-à-vis des diverses conditions anormales de fonctionnement, pour des longueurs différentes de liaison DC. Le deuxième vise à étudier l’influence de la commande du convertisseur VSC-HVDC sur l'amélioration de la performance dynamique du réseau de courant alternatif en cas d’oscillations. Après une modélisation analytique d’un système de référence constitué d’un groupe connecté à un convertisseur VSC-HVDC via un transformateur et une ligne, un contrôleur conventionnel simple PI est appliqué au niveau du convertisseur du système pour agir sur les oscillations rotoriques de la machine synchrone. Cette commande classique garantie une amélioration acceptable des performances dynamiques du système; surtout pour l'amortissement des oscillations de l'angle de puissance de la machine synchrone lors de défauts. / The integration of nonlinear VSC-HVDC transmission systems in power grids becomes very important for environmental, technical, and economic reasons. These systems have enabled the interconnection of asynchronous networks, the connection of offshore wind farms, and the control of power flow especially for long distances. This thesis aims the non-linear control and stabilization of VSC-HVDC systems, with two main themes. The first theme focuses on the design and synthesis of nonlinear control laws based on Variable Structure Systems (VSS) for VSC-HVDC systems. Thus, the Sliding Mode Control (SMC) and the Asymptotic Output Tracking (AOT) have been proposed to provide an adequate degree of stability via suitable Lyapunov functions. Then, the robustness of these commands has been studied in presence of parameter uncertainties and/or disturbances. The compromise between controller’s robustness and the system’s dynamic behavior depends on the gain settings. These control approaches, which are robust and can be easily implemented, have been applied to enhance the system dynamic performance and stability level in presence of different abnormal conditions for different DC link lengths. The second theme concerns the influence of VSC-HVDC control on improving the AC network dynamic performance during transients. After modeling the Single Machine via VSC-HVDC system in which the detailed synchronous generator model is considered, the conventional PI controller is applied to the converter side to act on damping the synchronous machine power angle oscillations. This simple control guarantees the reinforcement of the system dynamic performance and the power angle oscillations damping of the synchronous machine in presence of faults.

This thesis discusses the modeling of a micro-grid with photovoltaic (PV)-wind-fuel cell (FC) hybrid energy system and its operations. The system consists of the PV power, wind power, FC power, static var compensator (SVC) and an intelligent power controller. Wind and PV are primary power sources of the system, and an FC-electrolyzer combination is used as a backup and a long-term storage system. A simulation model for the micro-grid control of hybrid energy system has been developed using MATLAB/Simulink. A SVC was used to supply reactive power and regulate the voltage of the hybrid system. To achieve a fast and stable response for the real power control, the intelligent controller consists of a Radial Basis Function Network-Sliding Mode Control (RBFNSM) and a General Regression Neural Network (GRNN) for maximum power point tracking (MPPT). The pitch angle of wind turbine is controlled by RBFNSM, and the PV system uses GRNN, where the output signal is used to control the DC/DC boost converters to achieve the MPPT.

The need for high performance circuits in systems with low-voltage and low-power requirements has exponentially increased during the few last years due to the sophistication and miniaturization of electronic components. Most of these circuits are required to have a very good efficiency behavior in order to extend the battery life of the device. This dissertation addresses two important topics concerning very high efficiency circuits with very high performance specifications. The first topic is the design and implementation of class D audio power amplifiers, keeping their inherent high efficiency characteristic while improving their linearity performance, reducing their quiescent power consumption, and minimizing the silicon area. The second topic is the design and implementation of switching voltage regulators and their controllers, to provide a low-cost, compact, high efficient and reliable power conversion for integrated circuits. The first part of this dissertation includes a short, although deep, analysis on class D amplifiers, their history, principles of operation, architectures, performance metrics, practical design considerations, and their present and future market distribution. Moreover, the harmonic distortion of open-loop class D amplifiers based on pulse-width modulation (PWM) is analyzed by applying the duty cycle variation technique for the most popular carrier waveforms giving an easy and practical analytic method to evaluate the class D amplifier distortion and determine its specifications for a given linearity requirement. Additionally, three class D amplifiers, with an architecture based on sliding mode control, are proposed, designed, fabricated and tested. The amplifiers make use of a hysteretic controller to avoid the need of complex overhead circuitry typically needed in other architectures to compensate non-idealities of practical implementations. The design of the amplifiers based on this technique is compact, small, reliable, and provides a performance comparable to the state-of-the-art class D amplifiers, but consumes only one tenth of quiescent power. This characteristic gives to the proposed amplifiers an advantage for applications with minimal power consumption and very high performance requirements. The second part of this dissertation presents the design, implementation, and testing of switching voltage regulators. It starts with a description and brief analysis on the power converters architectures. It outlines the advantages and drawbacks of the main topologies, discusses practical design considerations, and compares their current and future market distribution. Then, two different buck converters are proposed to overcome the most critical issue in switching voltage regulators: to provide a stable voltage supply for electronic devices, with good regulation voltage, high efficiency performance, and, most important, a minimum number of components. The first buck converter, which has been designed, fabricated and tested, is an integrated dual-output voltage regulator based on sliding mode control that provides a power efficiency comparable to the conventional solutions, but potentially saves silicon area and input filter components. The design is based on the idea of stacking traditional buck converters to provide multiple output voltages with the minimum number of switches. Finally, a fully integrated buck converter based on sliding mode control is proposed. The architecture integrates the external passive components to deliver a complete monolithic solution with minimal silicon area. The buck converter employs a poly-phase structure to minimize the output current ripple and a hysteretic controller to avoid the generation of an additional high frequency carrier waveform needed in conventional solutions. The simulated results are comparable to the state-of-the-art works even with no additional post-fabrication process to improve the converter performance.

The main objective of the present thesis focuses on the integration of the in-wheel electric motors into the conception and control of road vehicles. The present thesis is the subject of the grant 186-654 (2010-2013) between the Laboratory of Signals and Systems (L2S-CNRS) and the French Institute of Petrol and New Energies (IFPEN). The thesis work has originally started from a vehicular electrification project, equipped with in-wheel electric motors at the rear axle, to obtain a full electric urban use and a standard extra-urban use with energy recovery at the rear axle in braking phases. The standard internal combustion engines have the disadvantage that complex estimation techniques are necessary to compute the instantaneous engine torque. At the same time, the actuators that control the braking system have some delays due to the hydraulic and mechanical circuits. These aspects represent the primary motivation for the introduction and study of the integration of the electric motor as unique propelling source for the vehicle. The advantages brought by the use of the electric motor are revealed and new techniques of control are set up to maximize its novelty. Control laws are constructed starting from the key feature of the electric motor, which is the fact that the torque transmitted at the wheel can be measured, depending on the current that passes through the motor. Another important feature of the electric motor is its response time, the independent control, as well as the fact that it can produce negative torques, in generator mode, to help decelerate the vehicle and store energy at the same time. Therefore, the novelty of the present work is that the in-wheel electric motor is considered to be the only control actuator signal in acceleration and deceleration phases, simplifying the architecture of the design of the vehicle and of the control laws. The control laws are focused on simplicity and rapidity in order to generate the torques which are transmitted at the wheels. To compute the adequate torques, estimation strategies are set up to produce reliable maximum friction estimation. Function of this maximum adherence available at the contact between the road and the tires, an adequate torque will be computed in order to achieve a stable wheel behavior in acceleration as well as in deceleration phases. The critical issue that was studied in this work was the non-linearity of the tire-road interaction characteristics and its complexity to estimate when it varies. The estimation strategy will have to detect all changes in the road-surface adherence and the computed control law should maintain the stability of the wheel even when the maximum friction changes. Perturbations and noise are also treated in order to test the robustness of the proposed estimation and control approaches.

Este trabalho aborda o problema de controle ótimo por modos deslizantes via função penalidade para sistemas de tempo discreto. Para resolver este problema será desenvolvido uma estrutura matricial alternativa baseada no problema de mínimos quadrados ponderados e funções penalidade. A partir desta nova formulação é possível obter a lei de controle ótimo por modos deslizantes, as equações de Riccati e a matriz do ganho de realimentação através desta estrutura matricial alternativa. A motivação para propormos essa nova abordagem é mostrar que é possível obter uma solução alternativa para o problema clássico de controle ótimo por modos deslizantes. / This work introduces a penalty function approach to deal with the optimal sliding mode control problem for discrete-time systems. To solve this problem an alternative array structure based on the problem of weighted least squares penalty function will be developed. Using this alternative matrix structure, the optimal sliding mode control law of, the matrix Riccati equations and feedback gain were obtained. The motivation of this new approach is to show that it is possible to obtain an alternative solution to the classic problem of optimal sliding mode control.

Nesta Dissertação são propostos dois esquemas de controle para sistemas não-lineares com atraso. No primeiro, o objetivo é controlar uma classe de sistemas incertos multivariáveis, de grau relativo unitário, com perturbações não-lineares descasadas dependentes do estado, e com atraso incerto e variante no tempo em relação ao estado. No segundo, deseja-se controlar uma classe de sistemas monovariáveis, com parâmetros conhecidos, grau relativo arbitrário, atraso arbitrário conhecido e constante na saída. Admitindo-se que o atraso na entrada pode ser deslocado para a saída, então, o segundo esquema de controle pode ser aplicado a sistemas com atraso na entrada. Os controladores desenvolvidos são baseados no controle por modo deslizante e realimentação de saída, com função de modulação para a amplitude do sinal de controle. Além disso, observadores estimam as variáveis de estado não-medidas. Em ambos os esquemas de controle propostos, garante-se propriedades de estabilidade globais do sistema em malha fechada. Simulações ilustram a eficácia dos controladores desenvolvidos. / Two control schemes for nonlinear time-delay systems are proposed in this thesis. The purpose of the first scheme is to control a class of uncertain multivariable systems, with relative degree one, nonlinear unmatched state dependent disturbances, and uncertain time-varying state delay. The purpose of the second scheme is to control a class of single-input-single-output systems, with known parameters, arbitrary relative degree, with constant and known arbitrary output delay. Assuming that input delays can be transferred to the output, so the second scheme can be applied to systems with input time-delay. The developed controllers are based on sliding mode control and output feedback, with modulation function to the control signal amplitude. Furthermore, observers estimate unmeasured state variables. In both schemes, global stability properties of the closed loop system are guaranteed. Simulations illustrate the effectiveness of the proposed approaches.

Nesta Dissertação são propostos dois esquemas de controle para sistemas não-lineares com atraso. No primeiro, o objetivo é controlar uma classe de sistemas incertos multivariáveis, de grau relativo unitário, com perturbações não-lineares descasadas dependentes do estado, e com atraso incerto e variante no tempo em relação ao estado. No segundo, deseja-se controlar uma classe de sistemas monovariáveis, com parâmetros conhecidos, grau relativo arbitrário, atraso arbitrário conhecido e constante na saída. Admitindo-se que o atraso na entrada pode ser deslocado para a saída, então, o segundo esquema de controle pode ser aplicado a sistemas com atraso na entrada. Os controladores desenvolvidos são baseados no controle por modo deslizante e realimentação de saída, com função de modulação para a amplitude do sinal de controle. Além disso, observadores estimam as variáveis de estado não-medidas. Em ambos os esquemas de controle propostos, garante-se propriedades de estabilidade globais do sistema em malha fechada. Simulações ilustram a eficácia dos controladores desenvolvidos. / Two control schemes for nonlinear time-delay systems are proposed in this thesis. The purpose of the first scheme is to control a class of uncertain multivariable systems, with relative degree one, nonlinear unmatched state dependent disturbances, and uncertain time-varying state delay. The purpose of the second scheme is to control a class of single-input-single-output systems, with known parameters, arbitrary relative degree, with constant and known arbitrary output delay. Assuming that input delays can be transferred to the output, so the second scheme can be applied to systems with input time-delay. The developed controllers are based on sliding mode control and output feedback, with modulation function to the control signal amplitude. Furthermore, observers estimate unmeasured state variables. In both schemes, global stability properties of the closed loop system are guaranteed. Simulations illustrate the effectiveness of the proposed approaches.

Submitted by Renata Lopes (renatasil82@gmail.com) on 2018-05-25T12:16:21Z No. of bitstreams: 1 lucasalvesdealmeida.pdf: 7514122 bytes, checksum: a0029ec07180541f754e98112ec47b6b (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2018-06-14T11:52:17Z (GMT) No. of bitstreams: 1 lucasalvesdealmeida.pdf: 7514122 bytes, checksum: a0029ec07180541f754e98112ec47b6b (MD5) / Made available in DSpace on 2018-06-14T11:52:17Z (GMT). No. of bitstreams: 1 lucasalvesdealmeida.pdf: 7514122 bytes, checksum: a0029ec07180541f754e98112ec47b6b (MD5) Previous issue date: 2018-02-27 / Sistemas eletromecânicos são de grande importância atualmente, e a procura por maior eficiência e desempenho aliados a um menor custo justificam a busca por alternativas tanto em topologia quanto no controle e acionamento de tais sistemas. A máquina de relutância chaveada é capaz de cumprir estes requisitos e tem despertado o interesse de pesquisadores e empresas nos últimos anos, emergindo como uma alternativa viável em diversas aplicações. Porém, esta máquina possui características singulares. Por conta de sua estrutura duplamente saliente, seu funcionamento correto depende da aplicação de pulsos de corrente por determinados intervalos de tempo, e na sequência correta, seus parâmetros são variáveis no tempo, apresentando um comportamento com características não-lineares. Tais particularidades fazem com que seja difícil controlar o torque destas máquinas, as quais possuem a tendência de apresentar altas oscilações durante a mudança da excitação de cada fase. Este trabalho tem por objetivo contribuir com o estudo da modelagem e do acionamento de uma máquina de relutância chaveada. É apresentada sua modelagem matemática e um modelo de simulação que leva em consideração as não linearidades existentes. Em seguida são apresentadas técnicas de controle de corrente que incluem um regulador de histerese, um controlador PI e um controlador por modos deslizantes. Também é utilizado um método capaz de determinar o momento em que cada fase deve ser acionada, baseado no ângulo do rotor, e uma técnica de variação dos ângulos de acionamento de maneira dinâmica, usados em conjunto com os controladores propostos. O trabalho também caracteriza e apresenta as funções de divisão de torque como uma maneira de reduzir drasticamente as oscilações de torque. São apresentadas as operações como motor e como gerador, bem como um exemplo de aplicação de modo a ilustrar ambos os modos de operação. / Electromechanical systems have a huge relevance nowadays, and seeking for improvements in efficiency and performance at the lowest cost make valid to identify topological and control alternatives of these systems. The switched reluctance machine is capable to fulfill such requirements and emerges as an interesting field of research. Academics and industrial works shows that it is a promising alternative in several applications. However, this machine presents unique characteristics, like the doubly salient structure, the necessity to apply phase currents in a sequence determined by the stator/rotor pole ratio, its time variantparameters,andthestrongnonlinearcharacteristics. Suchsingularitiesmaketorque control hard, as it tends to present high ripples and makes a lot of noise. This thesis aims to contribute on switched reluctance machine modeling and drive system. A mathematical model is presented, and also a simulation model that accounts for nonlinearities, making possible to simulate the machine accurately in a computational environment. A hysteresis regulator, a PI controller and a sliding mode controller are designed and simulated. An algorithm to determine when each phase should be excited based on rotor angle is used, and a technique to change such firing angles dynamically is developed that can be used along with current control methods presented. The work also defines and presents torque sharing functions as a way to greatly reduce torque ripple. Motor and generator operation are contemplated, and both modes are illustrated in an application example.