O presente trabalho tem como objetivo explorar o uso de técnicas de controle avançado na indústria metalúrgica. O nível de aço é uma das variáveis mais críticas para a produção de chapas ou tiras de alta qualidade no processo de lingotamento contínuo de tiras baseados em rolos duplos. Para melhorar a qualidade da espessura das tiras utiliza-se em tanque intermediário submerso na piscina formada entre os rolos duplos. São propostas três técnicas e controle de \"fuzzy\" via modelos Mamdani e Takagi-Sugeno. O modelo Mamdani é desenvolvido com base no conhecimento experimental do processo. O modelo Takagi-Sugeno utiliza uma abordagem mais sistêmica para a resolução do problema, utilizando modelos locais (linearizados) da planta não-linear que descreve o nível e escoamento do aço no tanque intermediário. Os componentes do sistema de controle empregados são discutidos e especificados. São apresentados resultados de simulação utilizando os parâmetros reais de uma planta de lingotamento contínuo instalada no IPT São Paulo. As simulações realizadas mostram que as técnicas de controle sugeridas atendem as restrições da planta e são viáveis de implementação. / This work explores the use of advanced control techniques in the metallurgical industry. The molten steel level is one of the most critical to the production of high quality steel strips in strip casting process. The strip thickness uniformity can be improved using an intermediary tundish submerse into the pool formed between the two rotating rolls. Three control techniques are considered to control the intermediary tundish molten steel level: PID, feedback linearization and fuzzy logic via Mamdani and Takagi-Sugeno models. The Mamdani model is developed with base in the experimental knowledge of the process. The Takagi-Sugeno model uses a more systematic approach for the solution of the control problem using local models for the non-linear plant that describes the level and flow of the steel in the intermediary tundish. The components of the level control system are discussed and specified. Simulation results are presented considering the real system parameters of a strip casting plant installed at IPT São Paulo. The simulation results obtained show that the control techniques suggested satisfies the constraints on the plant and can be considered for implementation.

Neste trabalho, aborda-se o problema de estabilização de sistemas lineares com atrasos nos estados e sujeitos a ação de atuadores saturantes. Em particular, são propostos métodos para a síntese de leis de controle estabilizantes do tipo realimentação de estados, realimentação dinâmica de saída, bem como para a síntese de compensadores de "anti-windup" estáticos e dinâmicos. Como objetivo de síntese consideram-se duas possibilidades, que o sistema esteja livre ou não de perturbações. No primeiro caso, determina-se uma lei de controle estabilizante de tal forma a maximizar um conjunto de condições iniciais admissíveis D. No caso do conjunto D ser dado, a lei de controle estabilizante que se determina, deve garantir estabilidade assintótica do sistema em malha-fechada para toda condição inicial pertencente a D. No segundo caso, considerando-se os problemas de atenuação e tolerância à perturbação, as leis de controle são obtidas com o intuito de minimizar o ganho-L2 entre a perturbação e a saída regulada do sistema ou de maximizar o limite superior da norma L2 das perturbações admissíveis, para as quais garante-se que as trajetórias do sistema em malha-fechada permaneçam limitadas. Condições locais e globais de estabilização são obtidas a partir da teoria de Lyapunov e da modelagem por zona-morta da saturação, com a conseqüente aplicação de uma condição de setor generalizada. Em se tratando de sistemas contínuos, para que as condições obtidas sejam dependentes do atraso, combinam-se estas ferramentas com a representação do sistema através de sistema descritor. Já no caso de sistemas discretos, combinam-se estas duas ferramentas com a utilização do Lema de Finsler. A utilização destas ferramentas possibilita que as condições obtidas sejam na forma de desigualdades matriciais lineares (LMI's) ou quase lineares, permitindo assim, a formulação de problemas de otimização convexos. / In this work, we deal with the problem of stabilization of linear systems with delayed state and saturating inputs. Specifically, methods are proposed for the synthesis of stabilizing control laws of state feedback and dynamic output feedback types, as well as for the synthesis of static and dynamic anti-windup compensators. Regarding synthesis objectives two possibilities were considered, that the system is free or not of disturbances. In the first case, the stabilizing control law is computed considering the maximization of the set of admissible initial conditions D. In the case the set D is given, this stabilizing control law should guarantee asymptotic stability of the closed-loop system. In the second case, considering the problems of tolerance and disturbance attenuation, the control laws are proposed in order to minimize the L2 gain between to disturbance and the regulated output of system, or in order to maximize the bound on the admissible disturbances for which the trajectories are bounded. Local and global conditions for stabilization are obtained from the theory of Lyapunov and the modeling of the saturation by means of deadzone nonlinearities and the consequent application of a modified sector condition. For continuous systems, in order to obtain delay dependent conditions, these tools are combined with descriptor approach. In the case of discrete-time systems, these two tools are combined with the utilization of Finsler's Lemma. The use of these leads to the conditions in the form of Linear Matrix Inequalities (LMI's) or almost linear, allowing the formulation of convex optimization problems.

Esta tese trata de um robô bípede em caminhar dinâmico. Neste robô, que normalmente é um sistema sub-atuado, fazemos uso de um disco de inércia que funciona num certo sentido como um atuador adicional. Através deste disco, obtém-se mais liberdade para a elaboração de passos repetitivos e um aumento na robustez. Por outro lado, o sistema de controle dos passos deve controlar, além do passo propriamente dito, também a velocidade do disco, de modo que não sejam saturados os atuadores (motores elétricos). Apresentamos então um controlador capaz de realizar estas ações simultaneamente. / This Thesis is about a bipedal robot in a dynamic walking gait. In this robot, which is usually a under-actuated system, a inertial wheel is employed and acts as an additional actuator. By using this wheel, one can design a cyclic walking gait with increased robustness and with more freedom. On the other hand, the control system must take care of the step itself, and also must ensure that the wheel speed does not exceed the actuators (motors) limits. We present a controller able to perform this tasks.

La validation des acquis de l'expérience est ici développée autour d'une thématique concernant l'électropneumatique asservie. Une première partie énumère les participations et les contributions à des travaux de recherches afin d'utiliser ceux-ci à la réalisation de produits industriels innovants et utilisant des connaissances multidisciplinaires. Puis l'on montre que l'expérience concrète tirée des activités précédentes, suivie d'analyses critiques et de réflexion, a conduit à la création et à la participation active de travaux de normalisation au niveau international. Enfin une synthèse et une formalisation de ces activités de recherches et d'applications industrielles innovantes ont permis le développement d'activités de formation. Une seconde partie développe l'approche théorique et technique permettant de mieux comprendre et juger le saut technologique nécessaire à la création et à l'adaptation de produits industriels innovants axes asservis et modulateurs de puissance électropneumatiques à partir de demandes marché plus ou moins formalisées. Tout au long de ce document, les interactions entre les aspects industriels et recherches universitaires sont exposées. Cette interaction conduisant à un enrichissement mutuel par l'acquis de l'expérience vécue / The validation of experience is here developed around a theme concerning the electropneumatic servocontrolled. A first part lists the interests and contributions to research work in order to use them in the realization of innovative industrial products and using multidisciplinary knowledge. Then we show that the practical experience of previous activities, followed by critical analysis and reflection, led to the creation and active participation in standardization activities at international level. Finally a synthesis and formalization of these research activities and innovative industrial applications led to the development of training activities. A second part develops the theoretical and technical approach to better understand and assess the technological leap required for the creation and adaptation of innovative industrial products servo axes and modulators of electro power from market demands more or less formalized. Throughout this document the interactions between industrial and academic research aspects are discussed. This interaction leads to mutual enrichment acquired through experience

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In recent years, significant progress has been made in autonomous robotics and the electrification of transportation, highlighting the growing importance of automation in daily life. Ensuring the safety and sustainability of automated systems necessitates the integration of intelligent algorithms capable of making astute decisions in uncertain circumstances. Autonomous robots possess considerable potential for efficiently performing intricate tasks, but this potential can only be unlocked through intelligent algorithms. Moreover, enhancing the energy efficiency of transportation systems yields extensive benefits for the environment, economy, and society at large. Addressing the urgent challenges of climate change and resource depletion necessitates prioritizing energy efficiency in transportation to construct a more resilient and equitable future. This research delves into the development of bio-inspired neural dynamics, nature-inspired swarm intelligence, fuzzy logic, heuristic algorithms, and optimization techniques for optimal control and navigation of electrified and unmanned ground vehicles. Drawing inspiration from biological systems, this research aims to enhance the performance of robots in dynamic and unstructured environments. The approach encompasses a hybrid bio-inspired method, leveraging the mathematical model of a biological neural system's membrane to facilitate smooth trajectory tracking and bounded velocities for a differential drive robot. Additionally, integration of a Leader-Slime Mold Algorithm (L-SMA) for global path optimization and a modified velocity obstacle (MVO) for local motion planning is pursued. A heuristic algorithm is also devised to enhance decision-making in uncertain and dynamic environments by coordinating actions among the L-SMA path planner, the MVO local motion planner, and the enhanced bio-inspired tracking controller. Furthermore, a real-time optimal predictive controller is proposed to address the energy management challenges of electrified vehicles while improving driveability and comfort. This predictive controller employs a linear parameter-varying model of an electrified vehicle, a custom-designed adaptive cost function, and fuzzy logic to adapt a subset of cost function weights. The integration of fuzzy logic and the adaptive predictive controller yields a convex optimization problem solved in real-time using an active-set solver. To further enhance the energy efficiency of the electrified vehicle, a particle swarm optimization enhanced model predictive controller is suggested as an adaptive cruise controller with superior energy efficiency and safety in vehicle-following scenarios. Through these integrated approaches, the aim is to advance the capabilities of autonomous robotics and electrified transportation systems, thereby contributing to safer, more efficient, and sustainable mobility solutions.

Thesis (PhD)-- Stellenbosch University, 2013. / ENGLISH ABSTRACT: Control of beta-type free-piston Stirling engines has been the topic of research and development for many years. In this dissertation, an alternative approach to free-piston Stirling engine control, namely direct piston displacement control, is proposed. Direct piston displacement control entails the instantaneous and direct control of the piston displacement to control the engine according to preferred criteria, e.g. maximum power conversion or efficiency. To control free-piston engines in this manner, it is necessary to independently control both the displacement of the displacer and the power piston in real time. The primary arrangement by which to achieve this is through external control of the instantaneous forces exerted by the linear electrical machines fixed to the pistons. The challenge of displacement control is whether suitable linear machine technology exists or whether technology could be established that would adhere to the requirements of real time direct control. To answer the question whether direct piston displacement control is at all possible, a process was followed to set specifications that linear machines should adhere to and to set design guidelines for linear machines and free-piston Stirling engines. The first step was to establish the ability to simulate free-piston Stirling engine dynamics accurately. This was done by adapting a second order formulation and to verify and improve the accuracy thereof by comparing simulated results with experimental results of one of the best documented Stirling engines, namely the GPU-3 engine. It was found that this second order formulation could simulate the GPU-3 engine to a fair degree of accuracy. Key indicators were defined and later refined with the view of setting specifications. A case study of the influence of a range of variations, including operational, dimensional and other variations, on the dynamics of the GPU-3 was then undertaken. From the findings of this case study, specifications of the key indicators and design guidelines were established. A design optimisation approach was proposed to evaluate linear machine topologies. This approach makes specific provision for the specifications that linear machines need to adhere to, as well as for representative dynamic responses of the forces exerted on the linear machine by the displacer or the power piston. These representative responses and the associated piston displacement were determined for the displacer, the power piston and the combination of the two from the study conducted to set specifications. An air-core, longitudinal flux linear machine with surface mounted permanent magnets (LFPM) was then evaluated to determine its suitability for direct piston displacement control. This linear machine topology was optimised for the traditional approach to establish a benchmark with which to compare subsequent optimisations. The LFPM linear machine not only compared well with other topologies for the traditional application in resonant free-piston Stirling engines, but it was found also to be able to perform displacement control for both the displacer and the power piston. For both pistons, displacement should however be limited to sinusoidal displacement, and in the case of the displacer, an important qualification is that the linear machine should be assisted by spring forces to reach practical design optimisations. Direct piston displacement control is shown to be possible. Future work should concentrate on the practical implementation thereof in free-piston Stirling engines. / AFRIKAANSE OPSOMMING: Die beheer van beta-tipe vrysuier Stirling enjins is al vir baie jare die onderwerp van navorsing en ontwikkeling. In hierdie proefskrif word ’n alternatiewe benadering tot vrysuier Stirlingenjins voorgestel, naamlik direkte suierverplasingsbeheer. Direkte suierverplasingsbeheer behels die oombliklike en direkte beheer van die suierverplasing om die enjin volgens voorkeur kriteria, soos maksimum drywingsomsetting of benuttingsgraad, te beheer. Om vrysuier enjins op hierdie wyse te beheer, is dit noodsaaklik om intyds die verplasing van beide die verplaser en die werksuier onafhanklik te beheer. Die primêre wyse om dit te bereik is deur eksterne beheer van die oomblikskragte wat uitgevoer word deur die lineêre masjiene wat vas is aan die suiers. Die uitdaging van verplasingsbeheer is of toepaslike lineêre masjien tegnologie bestaan en of tegnologie gevestig kan word wat sal voldoen aan die vereistes van intydse direkte beheer. Om die vraag te beantwoord of direkte suierverplasingsbeheer hoegenaamd moontlik is, is ’n proses gevolg om spesifikasies daar te stel waaraan lineêre masjiene moet voldoen en om ontwerpsriglyne vir lineêre masjiene en vrysuier Stirling enjins te stel. Die eerste stap was om die vermoë daar te stel om vrysuier Stirling enjin dinamika akkuraat te simuleer. Dit is gedoen deur ’n tweede orde formulering aan te pas en om die akkuraatheid daarvan te kontroleer en te verbeter deur gesimuleerde resultate met eksperimentele resultate van een van die bes gedokumenteerde Stirling enjins, naamlik die GPU-3 enjin, te vergelyk. Daar is bevind dat die tweede orde formulering die GPU-3 tot ’n redelike mate akkuraat kon simuleer. Sleutel aanwysers is gedefinieer en later verfyn met die oog op die daarstelling van spesifikasies. ’n Gevallestudie van die invloed van ’n reeks variasies, insluitende operasionele, dimensionele en ander variasies, op die dinamika van die GPU-3 is onderneem. Gegrond op die bevindinge van hierdie gevallestudie kon spesifikasies en ontwerpsriglyne vasgestel word. ’n Ontwerpsoptimeringsbenadering is voorgestel om lineêre masjiene te evalueer. Hierdie benadering maak spesifiek voorsiening vir die spesifikasies waaraan lineêre masjiene moet voldoen, sowel as verteenwoordigende dinamiese response van die kragte wat op die lineêre masjien van die verplaser en die werksuier uitgeoefen word. Vanaf die bevindinge van die studie wat uitgevoer is om spesifikasies daar te stel, is verteenwoordigende response en gepaardgaande suierverplasing bepaal vir die verplaser, die werksuier en die kombinasie van die twee. ’n Lugkern, longitudinale vloed lineêre masjien met oppervlak-gemonteerde permanente magnete (LVPM) is toe geëvalueer om die geskiktheid daarvan te bepaal vir direkte suierverplasingsbeheer. Hierdie lineêre masjien topologie is geoptimeer vir die tradisionele benadering om ’n maatstaf te vestig waarteen daaropvolgende optimerings vergelyk kan word. Die LVPM lineêre masjien vergelyk nie net goed met ander topologieë vir die tradisionele toepassing in resonante vrysuier Stirling enjins nie, maar daar is ook bevind dat dit in staat is om verplasingsbeheer te doen vir beide die verplaser en die werksuier. Vir beide suiers moet die verplasing egter tot sinusvormige verplasing beperk word en in die geval van die verplaser, is ’n belangrike kwalifikasie dat die lineêre masjien ondersteun moet word deur veerkragte om praktiese ontwerpsoptimerings te bereik. Daar is aangetoon dat direkte suierverplasingsbeheer moontlik is. Toekomstige werk moet konsentreer op die praktiese implementering daarvan in vrysuier Stirling enjins.

Micro Combined Heat and Power systems or microCHP systems generate heat and electricity for a home. Stirling engines are widely used as prime movers in microCHP applications. Stirling engine is an external combustion engine having an enclosed working fluid (as helium) that is alternately compressed and expanded to operate a piston. The displacer shuttles the working fluid between the hot and cold ends. The piston is coupled to a transmission and to an electrical machine to generate power. Conventional Stirling engines are not controllable to a great degree. The piston and displacer are connected to the same crank and they maintain the same phase difference throughout the cycle. Also the piston and displacer are normally constructed to move in a sinusoidal fashion. The Active Stirling Engine is a new concept introduced in this thesis which has a free displacer. The displacer is driven separately compared to a coupled drive in conventional Stirling engines. The displacer motion can be non-linear with dwell at each ends of the stroke, opening up the possibilities to increase the pressure volume diagram which indicates the work done by the engine. A separately driven displacer also allows introducing phase control and stroke control to improve the controllability of a Stirling engine. This thesis examines the effect of non-linear displacer motion and phase control of the displacer on Stirling engine performance. Simulations are performed in Sage, the leading Stirling engine simulation software, to understand the effect of displacer phase control. A test rig is constructed with the actively controlled displacer connected to a linear machine controlled by a programmable servo. Heat is applied to the test rig though an electric heating coil. The test rig is charged with nitrogen at 20Bar pressure. The power piston is connected to a rotating electrical machine via the transmission. The rotating electrical machine is used to start the engine and to act as the generator. The test rig is instrumented to determine the linear position of the displacer and piston, angular position of the rotating electrical machine shaft, temperatures, pressures and flow. A LabVIEW™ based data acquisition system is set up to capture data from the test rig. Data is collected at various test cases. The simulation result is compared against post processed data. An efficiency improvement of 15% is achieved using this method and is demonstrated experimentally. Applications in micro combined heat and power systems utilising the improved efficiency due to non linear motion and controllability due to phase control are explored in this thesis.

M.Ing. / Linear control system theory is well developed and has lead to a number of control system types with well-defined design methods that can be applied to any linear system. Unfortunately, no system in nature is truly linear. As a result, such non-linear systems must be represented by a linear model that is accurate over some region of the operating states of the system. The success of linear control theory in commercial applications is testament to the fact that some types of systems can be adequately represented by a linear model. However, systems with time-varying dynamics or non-linearities such as input or operating state saturation cannot always be adequately controlled by linear control systems. For that reason, non-linear control techniques must be investigated. This project aims to investigate Non-linear Model Predictive Control theory and practical implementation in the context of developing an autopilot for an Unmanned Aerial Vehicle based on a miniature helicopter. A non-linear model of the dynamics of an X-Cell Spectra G radio-controlled helicopter was developed based on the existing literature. A number of experiments were performed to determine the parameters of this model. Significant future work exists in designing additional ground experiments since certain parameters are difficult to measure safely in the laboratory. Additional work to improve the accuracy of the model at high airspeeds, as well as incorporating a more accurate yaw dynamics model, is also required. Following this, a Non-linear Model Predictive Control autopilot was simulated using MATLAB®. The simulation tested the effects of control system parameters such as control horizon and sampling period, as well as the sensor noise susceptibility and its ability to handle wind as a random disturbance. The results determined adequate control system parameters for level flight as well as landing the helicopter under ideal conditions. Simulations in which sensor noise and wind were added showed that the control system is significantly affected by sensor noise and that it cannot hover in the presence of wind. A real-time implementation was not achieved during this work; however, several directions for future research have been discussed.

De nos jours, l'utilisation des drones miniatures à voilure tournante pour des missions d'observation dans des environnements hostiles est en pleine expansion. Ces appareils, grâce à leurs capacités à combiner le vol de translation avec le vol stationnaire, sont en effet bien adaptés aux besoins de ces missions. L'étude présentée dans cette thèse concerne un nouveau concept de drone appelé GLMAV (pour Gun Launched Micro Aerial Vehicle), qui consiste à rendre très rapidement opérationnel un véhicule hybride projectile - drone. La difficulté dans le pilotage de ce type de véhicules est d'assurer de bonnes performances de suivi de trajectoires tout en garantissant une résistance aux perturbations aérodynamiques. Après une étape de modélisation, le coeur de la thèse présente plusieurs stratégies de commande, aussi bien linéaires que non linéaires, permettant la navigation autonome du drone. Plusieurs approches permettant l'estimation et la prise en compte dans la commande des efforts parasites liés aux phénomènes aérodynamiques sont également détaillées. L'efficacité de tous les algorithmes de commande est ensuite illustrée par de nombreuses simulations numériques. Du point de vue pratique, une simple loi de commande ne suffit pas. En effet, des techniques de filtrage particulières ou des aménagements spécifiques doivent être utilisés pour reconstruire l'état du drone. Les performances de l'ensemble de la boucle de commande sont d'abord testées en simulation avant l'implantation sur le prototype du GLMAV développé par l'Institut franco-allemand de recherches de Saint-Louis / Nowadays, the use of rotary-wing MAV for observation missions in hostile environments is constantly growing. These aircrafts, through their ability to perform both translation flights and hover, are indeed well appropriate for these missions. The study presented in this thesis deals with a new MAV concept called GLMAV (for Gun Launched Micro Aerial Vehicle), which consists in getting very quickly up and running a projectile - MAV hybrid vehicle. The difficulty in controlling such vehicles is to ensure good trajectory tracking performances while guaranteeing robustness towards aerodynamic disturbances. After a modelling stage, the heart of the thesis introduces various control strategies, both linear and nonlinear, for the autonomous navigation of the MAV. Several approaches allowing the estimation and the consideration into the control of the parasitic efforts caused by aerodynamic phenomena are also detailed. The effectiveness of the control algorithms is then shown through many numerical simulations. From a practical point of view, having a control law is not enough. Indeed, special filtering techniques or specific equipments have to be used to reconstruct the system state. The performances of the overall control loop are firstly tested in simulation before its implementation on the GLMAV prototype developed by the French-German research Institute of Saint-Louis