Made available in DSpace on 2014-12-17T14:55:57Z (GMT). No. of bitstreams: 1 PedroBL.pdf: 595050 bytes, checksum: f0ab25c9935d2925102dfa8c9a811a4b (MD5) Previous issue date: 2005-12-16 / This work presents an analysis of the control law based on an indirect hybrid scheme using neural network, initially proposed for O. Adetona, S. Sathanathan and L. H. Keel. Implementations of this control law, for a level plant of second order, was resulted an oscillatory behavior, even if the neural identifier has converged. Such results had motivated the investigation of the applicability of that law. Starting from that, had been made stability mathematical analysis and several implementations, with simulated plants and with real plants, for analyze the problem. The analysis has been showed the law was designed being despised some components of dynamic of the plant to be controlled. Thus, for plants that these components have a significant influence in its dynamic, the law tends to fail / Este trabalho apresenta uma an?lise da lei de controle baseada em um esquema h?brido indireto usando rede neural, proposto inicialmente por O. Adetona, S. Sathanathan e L. H. Keel. Implementa??es dessa lei de controle, para uma planta de n?vel de segunda ordem, resultaram em um comportamento oscilat?rio, mesmo com a converg?ncia do identificador neural. Tais resultados motivaram a investiga??o da aplicabilidade dessa lei. A partir disso, foram feitas an?lises matem?ticas de estabilidade e diversas implementa??es, com plantas simuladas e com plantas reais, com a finalidade de se analisar o problema. A an?lise mostrou que a lei foi desenvolvida desprezando-se certos componentes da din?mica da planta a ser controlada. Sendo assim, para plantas onde esses componentes t?m uma influ?ncia significativa em sua din?mica, a lei tende a falhar

Made available in DSpace on 2014-12-17T14:56:04Z (GMT). No. of bitstreams: 1 AndersonLOC.pdf: 406689 bytes, checksum: 691bbb5946a5ec4cddcd17c2240e9a91 (MD5) Previous issue date: 2003-12-12 / The present work presents the study and implementation of an adaptive bilinear compensated generalized predictive controller. This work uses conventional techniques of predictive control and includes techniques of adaptive control for better results. In order to solve control problems frequently found in the chemical industry, bilinear models are considered to represent the dynamics of the studied systems. Bilinear models are simpler than general nonlinear model, however it can to represent the intrinsic not-linearities of industrial processes. The linearization of the model, by the approach to time step quasilinear , is used to allow the application of the equations of the generalized predictive controller (GPC). Such linearization, however, generates an error of prediction, which is minimized through a compensation term. The term in study is implemented in an adaptive form, due to the nonlinear relationship between the input signal and the prediction error.Simulation results show the efficiency of adaptive predictive bilinear controller in comparison with the conventional. / O presente trabalho tem como objetivo o estudo e a implementa??o de um controlador preditivo generalizado bilinear adaptativamente compensado. Este trabalho utiliza t?cnicas de controle preditivo convencionais juntamente com t?cnicas de controle adaptativo na busca de um melhor resultado. No intuito de solucionar problemas de controle freq?entemente enfrentados pela ind?stria qu?mica, ? proposto o modelo bilinear para representar a din?mica dos sistemas em estudo. Os modelos bilineares s?o uma classe particular dentre os modelos n?o-lineares, por?m s?o por natureza mais simples que os modelos n?o lineares gerais e ainda conseguem representar as n?o-linearidades intr?nsecas dos processos industriais. A lineariza??o do modelo, pela aproxima??o quasilinear por degrau de tempo, ? utilizada para viabilizar a aplica??o das equa??es do controlador preditivo generalizado (GPC). Tal lineariza??o, no entanto, gera um erro de predi??o, o qual ? minimizado atrav?s de um termo de compensa??o. O termo em estudo ? implementado de forma adaptativa, dada a forte rela??o n?o-linear entre o sinal de entrada e o erro de predi??o. Resultados de simula??o mostram a efici?ncia do controlador preditivo bilinear adaptativo em compara??o com o convencional.

Neste trabalho, o equacionamento dinâmico de um manipulador espacial de base livre flutuante é descrito a partir do conceito do manipulador dinamicamente equivalente para que as técnicas de controle desenvolvidas sejam experimentalmente validadas em um manipulador convencional de base fixa. Dois tipos de controle de movimento são considerados. O primeiro foi desenvolvido no espaço das juntas e realiza o comando direto de posicionamento das juntas do manipulador; o segundo foi desenvolvido no espaço inercial e o controle é direcionado para o posicionamento do efetuador no espaço Cartesiano. Nos dois casos, o problema de acompanhamento de trajetória de um manipulador espacial com base livre flutuante sujeito a incertezas na planta e perturbações externas é proposto e solucionado sob o ponto de vista do critério de desempenho H \'INFINITO\'. Considerando métodos de controle para sistemas subatuados, três técnicas adaptativas foram desenvolvidas a partir de um controlador H \'INFINITO\' não-linear baseado na teoria dos jogos. A primeira técnica foi proposta considerando a estrutura do modelo bem definida, porém calculada com base em parâmetros incertos. Uma lei adaptativa foi aplicada para estimar esses parâmetros utilizando parametrização linear. Redes neurais artificiais são aplicadas nas outras duas abordagens adaptativas. A primeira utiliza uma rede neural para aprender o comportamento dinâmico do sistema robótico, considerado totalmente desconhecido. Nenhum dado cinemático ou dinâmico da base é utilizado neste caso. A segunda abordagem considera a estrutura do modelo nominal do manipulador bem definida e a rede neural é aplicada para estimar o comportamento das incertezas paramétricas e da dinâmica não-modelada da base. O critério H \'INFINITO\' é aplicado nas três técnicas para atenuar o efeito dos erros de estimativa. Resultados experimentais foram obtidos com um robô manipulador de base fixa subatuado (UArmII) e apresentaram melhor desempenho no acompanhamento da trajetória e no consumo de energia para as abordagens baseadas em redes neurais. / In the present work, the dynamics of a free-floating space manipulator is described through the dynamically equivalent manipulator approach in order to obtain experimental results in a planar fixed base manipulator. Control in joint and Cartesian spaces are considered. The first acts directly on joints positioning; the second control scheme acts on positioning the end-effector in some inertially fixed position. In both cases, the problem of tracking control with a guaranteed H-infinity performance for free-floating manipulator systems with plant uncertainties and external disturbances is proposed and solved. Considering control methods for underactuated systems, three adaptive techniques were developed from a nonlinear H-infinity controller based on game theory. The first approach was proposed considering a well defined structure for the plant, however it was computed based on uncertain parameters. An adaptive law was applied to estimate these parameters using linear parametrization. Artificial neural networks were applied in the two other approaches. The first one uses a neural network to learn the dynamic behavior from the robotic system, which is considered totally unknown. No kinematics or dynamics data from the spacecraft are necessary in this case. The second approach considers the nominal model structure well defined and the neural network is applied to estimate the behavior of the parametric uncertainties and of the spacecraft non-modeled dynamics. The H-infinity criterion was applied to attenuate the effect of estimation errors in the three techniques. Experimental results were obtained with an underactuated fixed-base planar manipulator (UArmII) and presented better performance in tracking and energy consumption for the neural based approaches.

O objetivo deste trabalho é desenvolver um sistema de controle capaz de realizar o apontamento automático de uma antena parabólica de forma mais precisa e com menor tempo de apontamento quando comparado ao apontamento manual. A antena parabólica em estudo consta de uma parábola metálica de 1.60 m de diâmetro, base de sustentação em ferro, dois conjuntos de engrenagens e dois motores elétricos para realização dos movimentos. Os parâmetros físicos do sistema mecânico, tais como massa, volume e inércia, puderam ser facilmente obtidos a partir de uma modelagem tridimensional em um software de plataforma CAD. Para a modelagem dinâmica do sistema utilizou-se a similaridade do sistema físico em estudo com um manipulador de cadeia aberta de dois graus de liberdade o que permitiu que se aplicassem conceitos referentes a cinemática e modelagem de manipuladores robóticos. Através da notação de Denavit-Hartenberg a cinemática direta da antena com dois graus de liberdade foi obtida com sucesso. As equações dinâmicas que descrevem o movimento do sistema foram levantadas através de um modelador automático implementado em um software de manipulação simbólica. Para tanto foi desenvolvido um algoritmo que descreve os passos necessários para obtenção das equações de movimento de um manipulador robótico em cadeia aberta, a partir da formulação Lagrangeana. Um sistema de controle adaptativo por modelo de referência foi projetado e implementado considerando as incertezas do modelo oriundas de imperfeições contidas na modelagem tridimensional realizada. Os resultados obtidos por simulação do sistema de controle adaptativo se mostraram satisfatórios e os índices de desempenho esperados para um perfeito apontamento foram alcançados. / The objective of this work is to develop a control system capable of performing the automatic maneuver of a satellite dish more accurately with less time maneuvering when compared to manual maneuver. The dish consists of a study on metal parabola 1.60 m in diameter, base of support in iron, two sets of gears and two electric motors to perform the movements. The physical parameters of the mechanical system, such as mass, volume and inertia could be easily obtained from a three-dimensional modeling in a CAD software platform. For modeling the system dynamics we used the similarity of the physical system under study with an open chain manipulator of two degrees of freedom that allowed it to apply concepts related to kinematics and modeling of robotic manipulators. Through the Denavit-Hartenberg notation of the direct kinematics of the antenna with two degrees of freedom was successfully obtained. The dynamic equations describing the motion of the system were raised through an automatic model implemented in symbolic manipulation software. To that end, an algorithm that describes the steps necessary to obtain the equations of motion of a robotic manipulator in open chain, from the Lagrangian method, was developed. A model reference adaptive control system was designed and implemented considering the uncertainties of the model arising from imperfections within the three-dimensional modeling. The results obtained by simulation of the system of closed loop control were satisfactory as well as the high rates of the perfect maneuver have been achieved.

The subject of this thesis is the real-time implementation of algebraic derivative estimators as observers in nonlinear control of magnetic levitation systems. These estimators are based on operational calculus and implemented as FIR filters, resulting on a feasible real-time implementation. The algebraic method provide a fast, non-asymptotic state estimation. For the magnetic levitation systems, the algebraic estimators may replace the standard asymptotic observers assuring very good performance and robustness. To validate the estimators as observers in closed-loop control, several nonlinear controllers are proposed and implemented in a experimental magnetic levitation prototype. The results show an excellent performance of the proposed control laws together with the algebraic estimators. / O tema dessa dissertação é a implementação em tempo real dos estimadores algébricos de derivadas como observadores no controle não-linear de levitação magnética. Esses estimadores são baseados no cálculo operacional e implementados como filtros FIR, resultando em uma implementação viável em tempo real. O método algébrico permite estimar os estados do sistema de maneira rápida e não-assintótica. Para os sistemas de levitação magnética, os estimadores algébricos podem substituir os observadores assintóticos assegurando boas propriedades de robustez e performance. A fim de validar os estimadores como observadores no controle em malha fechada, vários controladores não-lineares são propostos e implementados em um protótipo experimental. Os resultados mostram uma excelente performance dos controladores propostos juntamente com os estimadores algébricos.

Ce travail porte sur l’étude d’amortissement piézoélectrique shunté pour les roues aubagées désaccordées de turbomachines. Les problèmes vibratoires sont de première importance pour les motoristes aéronautiques et, parmi ceux-ci, les vibrations causées par le désaccordage des aubes tiennent une place importante puisqu’elles sont à l’origine des phénomènes de fatigue oligocyclique et des risques de défaillance associés. L’usage de technologies d’amortissement est donc assez répandu pour réduire l’amplitude vibratoire. Ici, on s’intéresse à l’étude de l’amortissement piézoélectrique shunté appliqué aux roues aubagées désaccordées. Dans notre stratégie, des patchs piézoélectriques shuntés sont attachés sur la surface de la roue entre les aubes adjacentes afin de dissiper l’énergie mécanique de la roue. Par conséquent, l’amplitude des aubes peut être réduite du fait du couplage entre les aubes et la roue. Cette stratégie est d’intérêt pour l’ingénieur car les transducteurs piézoélectriques sont placés en dehors du flux principal des turbomachines. Un modèle numérique a été développé intégrant des circuits piézoélectriques shuntés résonnants. L’amortissement piézoélectrique shunté et un motif optimisé de désaccordage piézoélectrique sont tous les deux introduits afin de minimiser l’effet du désaccordage des aubes. En pratique, le désaccordage des aubes change au cours de la vie du moteur. Les raisons peuvent être multiples comme l’usure, des endommagements par impacts qui vont conduire inévitablement à une évolution du motif du désaccordage. En s’appuyant sur la stratégie de contrôle adaptatif, nous avons proposé un shunt piézoélectrique résonant capable de suivre l’évolution de la structure au cours du temps. Les simulations numériques montrent qu’une bonne efficacité est obtenue en termes de réduction des vibrations de roues aubagées désaccordées. Dans cette thèse, une dernière stratégie est proposée qui correspond à la mise en place d’un système de pompage énergétique nonlinéaire basé sur les éléments piézoélectriques. Une fois intégrées dans une structure mécanique, il est donc en mesure d’agir en tant qu’amortisseur de vibrations, adaptatif et large bande. Une méthode numérique, à coefficient variables de balance harmonique, a été développée afin de calculer les réponses quasi-périodiques associés à ce type de problème. Ce dispositif de pompage énergétique piézoélectrique semble particulièrement intéressant dans le cadre des roues aubagées désaccordées, car il est capable d’interagir de façon adaptative avec chaque secteur de la roue désaccordé. Des résultats prometteurs ont été obtenus et illustrent démontrent ce point de vue. / This study deals with piezoelectric shunt damping in the mistuned bladed disks. Bladed disks are rich dynamical systems that are known to suffer from severe vibration problems. Blade mistuning is an issue of major concern since it is responsible for high cycle fatigue and failure risks. In the mitigation practice, additional damping is usually introduced into the structure to reduce vibration amplitudes. Here, we are interested in piezoelectric shunt damping applied into mistuned bladed disks. In our proposed damping strategy, shunted piezoelectrics are attached onto the disk surface between adjacent blades in order to dissipate the disk mechanical energy. Consequently the blade vibration can be reduced due to the blade-disk coupling. This strategy is of engineering interest since piezoelectric transducers are placed outside other main stream in turbomachinery. This idea is developed based on a lumped-parameter bladed disk model. Resonant shunt circuits are adopted. Both piezoelectric shunt damping and optimized piezoelectric mistuning are introduced to minimize the blade mistuning effect. Piezoelectric mistuning can be seen as a kind of damping mistuning; it is modeled as a small variation of the inductance value of each shunt circuit. In reality the blade mistuning pattern is not constant in the long run. Due to various complexities, a perturbation of the blade mistuning pattern might result. In benefitting from the manageability and controllability of piezoelectric shunt circuits, an adaptive control strategy is developed to adjust the optimal piezoelectric mistuning pattern according to the perturbation. Numerical simulations reveal that a fine performance is achieved in terms of reducing the blade vibration of slowly time-variant, mistuned bladed disks. An essentially nonlinear piezoelectric shunt circuit is proposed as practical realization of nonlinear energy sink (NES). This piezoelectricbased NES is featured by nonexistence of preferential resonant frequency. It is therefore able to act in essence, as a passive, adaptive, broadband vibration absorber, when integrated into a mechanical structure. A variable-coefficient harmonic balance method for quasiperiodic responses is devised. It helps gain insights into the complex dynamics of forced response when the coupled electromechanical system is under harmonic external forcing. The appealing property of the piezoelectric-based NES enables it especially suitable for applications in mistuned bladed disks since it is capable of adaptively interacting with each sector of mistuned bladed disks in a broadband fashion. Promising results obtained in the numerical studies further demonstrate this viewpoint.

Conselho Nacional de Desenvolvimento Científico e Tecnológico / This Thesis deals with the development of a novel robust model reference adaptive controller (RMRAC), in discrete-time applied to grid-connected systems using LCL filter. This controller uses a modified robust parameters identifier based on a recursive least-squares algorithm. Two control structures are analyzed: state feedback approach and input-output approach. The robust stability analysis of the controller is presented including unmodeled dynamics. Thus, through these analyses, constraints design, in discrete-time, are obtained. For the validation of the proposed control algorithm, simulation and experimental results of a grid-connected power converter with LCL-filter, with current control, are presented. / Esta Tese de Doutorado apresenta o desenvolvimento de um novo controlador adaptativo por modelo de referência, totalmente desenvolvido em tempo discreto, aplicado a sistemas conectados à rede de energia elétrica empregando filtro LCL. Este controlador utiliza um identificador de parâmetros modificado robusto baseado no método dos mínimos quadrados recursivos. Em relação à estrutura do controlador, a abordagem por realimentação de estados e a abordagem entrada-saída são utilizadas. A análise de estabilidade robusta do controlador é apresentada incluindo dinâmicas não-modeladas. Por meio destas análises, restrições de projeto (em tempo discreto) são obtidas. Para a validação do algoritmo proposto, resultados de simulação e experimentais do sistema de controle de corrente em um conversor conectado à rede de energia elétrica com filtro LCL são apresentados.

Le moteur à réluctance variable (MRV) est en train de gagner beaucoup d'intérêt dans les applications de traction électrique grâce à la compatibilité significative entre ses caractéristiques naturelles et les exigences de l'industrie automobile. Cependant, à cause de la caractéristique fortement non linéaire des grandeurs électromagnétiques du MRV, l'usure du moteur, les variations paramétriques dues aux tolérances de fabrication, et la dérive des paramètres durant le fonctionnement, les stratégies de commande classique ne permettent pas d'assurer des hautes performances de suivi de trajectoire et de robustesse en stabilité dans l'environnement de fonctionnement d'un véhicule électrique. Dans ce contexte, le premier objectif de cette thèse est de proposer des stratégies de commande robustes du MRV en prenant en considération les contraintes imposées par les applications de traction. Afin d'atteindre cet objectif, une structure de commande en cascade, composée d'une boucle externe de vitesse et d'une boucle interne de courant, est envisagée. Les objectifs de synthèse sont ensuite fixés à travers un cahier des charges formulé en termes de gabarits fréquentiels, et les correcteurs robustes et adaptatifs de vitesse et de courant sont ainsi synthétisés en se basant sur les approches de commande H-infini et LPV/H- infini. La faisabilité des correcteurs constitue également un critère important dans les applications de traction électrique où la puissance de calcul embarqué dans le véhicule est très limitée. Ce critère est pris en considération dans cette thèse à travers l'utilisation des approches de synthèse des correcteurs H- infini d'ordre fixe. Les performances de ces correcteurs sont analysées et comparées avec les performances des correcteurs H- infini classiques à travers une étude par la μ-analyse de la robustesse en stabilité et une évaluation expérimentale. Le deuxième objectif de ces travaux de thèse est d'évaluer l'intérêt de la commande sans capteurs mécanique du MRV en se basant sur des méthodes d'estimation. Des observateurs robustes basés sur les modes glissants et le filtrage de Kalman sont ainsi synthétisés. Les performances et la robustesse de ces observateurs sont ensuite comparées expérimentalement dans une perspective d'une application de traction électrique. / The switched reluctance motor (SRM) is gaining much interest in electric vehicle applications. It includes robustness to harsh operational conditions, rugged structure, fault tolerant operation and a wide range of speed. However, due to the highly nonlinear electromagnetic characteristic, wear and tear of motor, manufacturing tolerances and parameters drift during operation, classical control strategies do not ensure high dynamical performance and robustness under various operating conditions in electric vehicle environment. In this context, the first purpose of this thesis is to propose robust control strategies of the SRM taking into account the constraints imposed by electric vehicle applications. To achieve this objective, a cascade control scheme is adopted; it consists of an outer speed loop and an inner current loop. Controllers design aims are fixed through specifications formulated in frequency domain, robust and adaptive controllers of speed and currents are thus synthesized based on H- infini and LPV/H- infini control approaches. Feasibility of these controllers is also an important criterion in electric vehicles applications where embedded computing power is very limited. This criterion is taken into account in this thesis by using fixed order controller synthesis approaches. The performances of these controllers are analyzed and compared with the performances of standard H- infini controllers through an experimental evaluation and a robustness analysis is performed using the concept of the Singular Structured Value, i.e. the μ-analysis. The second objective of this thesis is to assess the interest of the sensorless control of SRM. Robust observers based on second order sliding mode (SMO2) and Kalman filtering techniques (EKF) are designed to estimate the mechanical states of SRM. Performances and robustness of these observers are then compared experimentally in perspective of electric vehicle application.

Cette thèse s'intéresse à l'adaptation des lois de pilotage d'un avion de transport civil aux différentes incertitudes qui peuvent affecter sa dynamique. Le procédé de pilotage adaptatif est censé fonctionner en temps réel à bord de l'avion afin d'optimiser la performance boucle fermée en fonction des conditions dans lesquelles il évolue. Les incertitudes peuvent être liées à la méconnaissance des conditions de vol (par exemple la vitesse et l'altitude), à des non-linéarités aérodynamiques inconnues ou encore à la méconnaissance du pilote aux commandes. Les procédés adaptatifs qui répondent à ces problèmes se doivent d'être performants sur l'ensemble du domaine opérationnel de l'avion en présence de perturbations réalistes. D'autres contraintes spécifiques peuvent être ajoutées en fonction du contexte (par exemple des charges limites, la stabilité aéroélastique, etc.). Plusieurs méthodes adaptatives sont testées afin d'adapter le système aux larges incertitudes qui le composent. Elles associent en général un estimateur en ligne (aussi appelé loi de mise-à-jour) à une loi de commande structurée. La synthèse de ces deux éléments peut être réalisée simultanément pour les méthodes adaptatives dites " directes ", comme par exemple le Model Reference Adaptative Control qui utilise la stabilité au sens de Lyapounov. Mais cette synthèse peut aussi être découplée pour les méthodes adaptatives dites "indirectes", ce qui offre un large choix de techniques pour chaque élément (comme les Moindres Carrés pour l'estimation de paramètres physiques incertains et la synthèse sous forme LFR pour le correcteur). Le choix de la méthode dépend fortement du contexte applicatif et des nombreuses contraintes associées. Trois applications sont au cœur de ce mémoire. Elles traitent de l'ajustement de lois de guidage à un modèle pilote inconnu, du contrôle longitudinal de non-linéarités de l'avion, et de la mise au point de lois longitudinale et latérale de pilotage manuel qui s'adaptent à des conditions de vol inconnues. Des méthodes avancées d'analyse linéaire et non-linéaire (dérivées de la µ-analyse et d'algorithmes d'optimisation) sont aussi mises en place pour valider ces systèmes sophistiqués adaptatifs en temps réel. D'une façon générale, les méthodes adaptatives indirectes ont donné le plus de satisfaction. Leur performance est aussi bonne que celle des méthodes directes, mais le fait qu'elles estiment en ligne des paramètres physiques facilite la surveillance temps réel du procédé adaptatif et sa validation. / This thesis deals with adapting flight control laws of a civil transport aircraft to various incertainties which can affect its behaviour. The adaptive flight control system is supposed to run in real time onboard the airplane so that its closed-loop performance is optimized with respect to the current conditions. These incertainties may be linked to unknown flight conditions (e.g. unknown airspeed and altitude), or unknown aerodynamics non-linearities or even unknown behaviour of the pilot in command. The adaptive schemes that are derived to answer these problems must be valid on the whole flight envelope with realistic disturbances but other additional contraints may exist depending on the context (e.g. loads limits, aeroelastic stability, etc.). To accommodate for large uncertainties on the system, adaptive methods are investigated. They usually combine an online estimator (also called an update law) with a structured flight control law. The synthesis of both elements may be simultaneous on 'direct' adaptive methods, e.g. on Model Reference Adaptive Control, using Lyapunov's stability theory. But it can also be decoupled on 'indirect' adaptive methods, giving a full spectrum of techniques for both elements (such as Least-Squares for estimating unknown physical parameters and the LFR framework for designing controllers). The choice of a specific method really depends on the application context and the related constraints.Three applications are the core of this report. They deal with adjusting guidance law to the pilot's unknown behaviour, controlling a longitudinal non-linearity, and providing manual longitudinal and lateral flight control laws which adapt to unknown flight conditions. Advanced linear and non-linear analysis techniques (based on µ-analysis or on optimization algorithms) are also applied to validated these sophisticated real-time adaptive systems. Results showed that indirect adaptive schemes were generally the most satisfactory. Their performance is similar to the one of direct schemes but as indirect methods provide physical parameter estimates, real-time monitoring and offline validation seem quite easier.

Les avantages des véhicules autonomes sont formidables, mais le chemin vers une vraie autonomie sera long et semé d’incertitudes. La recherche de ces dernières années s’est basée sur des systèmes multi-capteurs capables de percevoir l’environnement dans lequel le véhicule est conduit. Ces systèmes deviennent plus complexes quand on contrôle le véhicule autonome, différents systèmes de contrôle sont activés dépendant de la décision du système multi-capteurs. Chacun de ces systèmes suit des critères de performance et de stabilité lors de leur conception. Cependant, ils doivent fonctionner ensemble, garantissant une stabilité et étant capable de se charger des changements dynamiques, structuraux et environnementaux. Cette thèse explore la paramétrisation Youla-Kucera (YK) dans des systèmes dynamiques comme les voitures, en insistant sur la stabilité quand la dynamique change, ou que le trafic impose une reconfiguration du contrôleur. Concentrons-nous sur l’obtention de résultats de simulation et expérimentaux en relation avec le "Cooperative Adaptive Cruise Control" (CACC), dans le but, non pas d’utiliser, ici, pour la première fois la paramétrisation YK dans le domaine des systèmes de transport intelligents (STI), mais d’améliorer l’état de l’art en CACC aussi. Des résultats de reconfiguration stable de contrôleurs sont donnés quand la communication avec le véhicule précédent n’est plus disponible, en cas de manœuvre d’entrées/sorties ou lorsqu’ils sont entourés de véhicules aux dynamiques différentes. Ceci démontrant l’adaptabilité, la stabilité et l’implémentation réelle de la paramétrisation YK comme structure générale de contrôle pour les véhicules autonomes. / Benefits of autonomous vehicles are genuinely exciting, but the route to true autonomy in transportation will likely be long and full of uncertainty. Research on the last years is on the development of multi-sensor systems able to perceive the environment in which the vehicle is driving in. These systems increase complexity when controlling an autonomous vehicle, as different control systems are activated depending on the multi-sensor decision system. Each of these systems follows performance and stability criteria for its design, but they all must work together, providing stability guarantees and being able to handle dynamics, structural and environmental changes. This thesis explores the Youla-Kucera (YK) parameterization in dynamics systems such as vehicles, with special emphasis on stability when some dynamics change or the traffic situation demands controller reconfiguration. Focus is in obtaining simulation and experimental results related to Cooperative Adaptive Cruise Control (CACC), with the aim not only of using for the very first time YK parameterization in the Intelligent Transportation Systems (ITS) domain, but improving CACC state-of-the art. Stable controller reconfiguration results are given when non-available communication link with the preceding vehicle, cut-in/out maneuvers or surrounding vehicles with different dynamics, proving adapability, stability and possible real implementation of the YK parameterization as general control framework for autonomous vehicles.