Dans cette thèse, deux problèmes liés aux approches basées sur des modèles pour le diagnostic de défauts et l'estimation du niveau de dégradation des équipements dans un bâtiment sont étudiés: la conception d'observateurs adaptatifs pour l'estimation de l'état et des paramètres, et l'analyse de l'identifiabilité des paramètres. La classe des modèles considérés est celle des modèles quasi-linéaires à paramètres variants dans le temps (quasi-LPV) avec paramétrisation affine des matrices d'état. Utilisant l'approche polytopique de Takagi-Sugeno (T-S), deux types d'observateurs sont proposés, un pour des systèmes en temps continu et l'autre pour des systèmes en temps discret. La structure de Luenberger (correction de la dynamique à l'aide de l'erreur d'estimation de la sortie) est choisie pour la partie d'estimation d'état de l'observateur pour les deux et leur conception s'appuie sur l'approche de Lyapunov. Pour la partie d'estimation des paramètres, une structure originale est proposée en temps continu et une structure proportionnelle-intégrale (PI) est utilisée en temps discret. La troisième contribution présente succinctement une méthode d'estimation d'état et des paramètres de façon découplée. Elle utilise conjointement l'approche de l'espace de parité et un observateur à mémoire finie. Pour la quatrième contribution relative à l'identifiabilité des paramètres, les états du système sont tout d'abord éliminés en utilisant une approche de type espace de parité. Cela permet d'extraire le `résumé exhaustif' du modèle qui aide à établir l'identifiabilité du modèle. Tous les résultats sont illustrés à l'aide d'exemples / Two problems relevant to the model-based approaches to fault diagnosis and degradation estimation in commissioned buildings are investigated in this thesis: adaptive observers for state and parameter estimation, and parameter identifiability. The system models considered are the quasi-LPV models with affine parameterization. Using the Takagi-Sugeno (T-S) polytopic approach, two observer designs, one for continuous-time models and another for discrete-time models are provided. Both models use a Luenberger structure for the state estimation part and deploy the Lyapunov design approach. An innovative non-linear estimation model is obtained through the design process for the continuous-time parameter estimation whereas a proportional-integral (PI) structure is used for discrete-time. A brief third contribution is a decoupled state and parameter estimation that makes use of the parity-space approach and realized using a finite memory observer strategy. For the fourth contribution of parameter identifiability, a parity-space formulation using null-space computation is used for the elimination of states of the model from which the exhaustive summary of the model is extracted and the identifiability of the model verified. All the results are illustrated using examples

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Ce travail propose de nouvelles structures de contrôle pour la téléopération bilatérale à travers des réseaux de communication non dédiés. L’enjeu est donc de concevoir et calculer des structures de commande garantissant la stabilisation et un bon degré de performance en termes de synchronisation (suivi des positions et vitesse) et de transparence (ressenti des forces) sous les retards variables et asymétriques.Nous faisons tout d’abord un tour d’horizon des recherches récentes dans le domaine des systèmes de téléopération et de leurs caractéristiques. Puis, nous considérons des modèles linéaires à plusieurs retards variables pour lesquels nous proposons une approche d’analyse de stabilité par fonctionnelles de Lyapunov-Krasovskii et contrôle robuste H [infinity symbol . Ensuite, trois structures de téléopération seront proposées en temps continu, la comparaison de ces architectures montre que, pour un retard de réseau maximum donné ou calculé, toutes garantissent un suivi de position et vitesse. Les deux dernières, qui utilisent les forces mesurées ou estimées de l’opérateur humain et de l’environnement, garantissent de plus un suivi en force. Au final, la troisième structure (avec proxy) présente la meilleure performance, même si elle demande un peu plus de calcul. Puis, afin d’analyser et d’améliorer les performances de la troisième structure pour des modèles encore plus réalistes, une étude est menée en temps discret, mais aussi sur un modèle non linéaire ou non stationnaire sous perturbations bornées en norme. L’implantation sur la plate-forme est décrite dans un quatrième et dernier chapitre, et puis l’analyse des résultats expérimentaux est alors menée / This PhD thesis is dedicated to the control scheme design of the bilateral teleoperation under asymmetric communication channels: the stabilization and a high-level performance under asymmetric time-varying delays and the perturbations of the human operator and environment. After a review of the recent researches and their features in the field of teleoperation system, a less conservative Lyapunov-Krasovskii functional together with H [infinity symbol] control theory has been applied to linear time delay systems, and then the LMI theorems have been obtained in order to calculate the controllers in the control schemes.Firstly, three novel teleoperation control schemes have been presented. Comparing three architectures, all of them guaranteed the stability and the position tracking thanks to the position/velocity information. Force-reflecting control scheme without or with proxy, in addition, ensured the force tracking by using the estimated/measured force of the human operator and the environment. Here, the control scheme with the proxy got a better performance. Secondly, a discrete-time approach has been developed to analyze the force-reflecting control scheme with proxy and obtain a better system performance. Besides, more general systems with time-varying uncertainties (the polytopic-type uncertainties and the norm-bounded model uncertainties) have been considered. Finally, the experimental test-bench and the real system implementation have been designed, which involved the identification and linearizing control of the subsystems (the master/slave robots). The experimental results have illustrated the effectiveness of the approaches proposed in this thesis

Made available in DSpace on 2014-12-17T14:55:47Z (GMT). No. of bitstreams: 1 JoseSBL_DISSERT.pdf: 1769944 bytes, checksum: 43863b3b32771c922314a0fa73be8bf8 (MD5) Previous issue date: 2011-02-14 / This work deals with an on-line control strategy based on Robust Model Predictive Control (RMPC) technique applied in a real coupled tanks system. This process consists of two coupled tanks and a pump to feed the liquid to the system. The control objective (regulator problem) is to keep the tanks levels in the considered operation point even in the presence of disturbance. The RMPC is a technique that allows explicit incorporation of the plant uncertainty in the problem formulation. The goal is to design, at each time step, a state-feedback control law that minimizes a 'worst-case' infinite horizon objective function, subject to constraint in the control. The existence of a feedback control law satisfying the input constraints is reduced to a convex optimization over linear matrix inequalities (LMIs) problem. It is shown in this work that for the plant uncertainty described by the polytope, the feasible receding horizon state feedback control design is robustly stabilizing. The software implementation of the RMPC is made using Scilab, and its communication with Coupled Tanks Systems is done through the OLE for Process Control (OPC) industrial protocol / Este trabalho tem como objetivo desenvolver uma estrat?gia de controle on-line baseado no Controlador Preditivo Robusto (RMPC, acr?nimo do ingl?s Robust Model Predictive Control) aplicado a um sistema real de tanques acoplados. Este processo consiste em sistema de dois tanques conectados, cujo liquido ? enviado aos mesmos por uma bomba. O objetivo do controle (problema regulat?rio) ? deixar os n?veis dos tanques no ponto de opera??o considerado, mesmo na presen?a de perturba??es. A s?ntese da t?cnica RMPC consiste em incorporar de forma explicita as incertezas da planta na formula??o do problema. O objetivo do projeto, a cada per?odo de amostragem, ? encontrar uma realimenta??o de estados que minimiza o pior caso de uma fun??o objetivo com horizonte infinito, sujeita a restri??es no sinal de controle. O problema original, do tipo Min-max, ? reduzido em a problema de otimiza??o convexa expresso em desigualdades matriciais lineares (LMI, Linear Matriz Inequalities). Mostram-se, neste trabalho, a descri??o da incerteza da planta na forma polit?pica e as condi??es de factibilidade do problema de otimiza??o. A implementa??o do algoritmo RMPC foi feita utilizando o software Scilab e a sua comunica??o com o sistema de tanques acoplados foi feita atrav?s do protocolo OPC (do ingl?s OLE for Process Control)

Les bisoxazolines de symétrie C2, ligands chiraux bidentates formés par deux cycles oxazolines séparés par un atome de carbone portant deux substituants identiques, font partie de ligands le plus utilisés en chimie de coordination et en catalyse asymétrique (homogène et hétérogène). Ce travail décrit la synthèse de treize ligands polytopiques chiraux comportant des unités bisoxazolines. Ces ligands ont été par la suite utilisés, d'une part, en tant que ligands chiraux pour la construction des catalyseurs auto-supportés de Cu(II)/ ligand polytopique (catalyseurs testés par la suite dans les réactions d' α-amination de β-cétoesters énantiosélective, de desymétrisation asymétrique par benzoylation de meso-diols, de dédoublement cinétique de rac-diols et dans la nitroaldolisation du nitrobenzaldehyde ou réaction de Henry); et d'autre part, en tant que briques deconstruction dans l'autoassemblage alterné et contrôlé de polymères de coordination métalloorganiques racémiques et énantiopurs. / Chiral C2-symmetric bis(oxazolines), bidentate ligands formed by two oxazoline rings separated by a carbon atom with two identical substituents, are one of the most popular types of chiral ligands which have already been successfully used in coordination chemistry and asymmetric catalysis (heterogeneous and homogeneous). This work describes the synthesis of thirteen polytopic chiral ligands bearing bis(oxazolines) moieties which have then been used, on the one hand, as chiral ligands for the construction of selfsupported Cu(II)/ polytopic ligand catalysts which were subsequently tested in the enantioselective α-hydrazination of β-ketoesters, the asymmetric desymmetrization of meso-diols by benzoylation and the kinetic resolution of rac-diols and the nitroaldolisation reaction (Henry reaction); and on the other hand, as organic building blocks for the controlled and alternate self-assembly of racemic and enantiopur metal-organic coordination polymers.

Nous proposons dans cette thèse d’étudier l’asservissement de systèmes complexes par des commandes à mode glissant à paramètres fixes. L’objectif est de montrer qu’il est possible d’utiliser des commandes robustes tout en gardant une approche de modélisation du système et de synthèse des lois de commande simples.Le système physique considéré est essentiellement un robot manipulateur anthropomorphique flexible à muscles artificiels pneumatiques à sept degrés de liberté.Nous nous intéressons aux commandes robustes et particulièrement aux commandes à régime glissant d’ordre 2, Twisting et Super–twisting, et à la commande équivalente qui leur est généralement associée pour réduire les discontinuées éventuelles de ce type de commandes. Ces commandes sont évaluées à travers des expériences sur un robot flexible. Grâce à ces expériences nous montrons la robustesse de ces commandes, l’influence des incertitudes de la modélisation sur leurs performances et la difficulté de synthétiser leurs paramètres pour un système incertain. Un accélérateur de convergence est proposé afin d’améliorer l’asservissement en régulation et suivi de consigne et la stabilité des systèmes incertains. Ces résultats théoriques sont confirmés expérimentalement grâce au robot flexible.Compte tenu de la difficulté de synthèse des lois de commande Twisting et Super–twisting, une nouvelle approche à base de retours d’états commutés est présentée, l’objectif est de proposer une commande à mode glissant dont la synthèse des paramètres est systématique, et ce, grâce à l’utilisation de conditions de stabilité au sens de Lyapunov. Cette approche baptisée Puma : Polytopic Uncertain Model Approach utilise un modèle polytopique du système, ce qui per- met de garder une modélisation simple en considérant le système, quelque soit sa complexité, comme une boite noire. Cette approche est appliquée au robot flexible en simulation, elle est comparée à une approche similaire pour montrer son intérêt.Afin d’évaluer la pertinence de ces commandes du point de vue performance et simplicité de mise en œuvre, elles sont comparées à l’une des commandes la plus utilisée en industrie : le PID. / This thesis addresses the control of complex systems through fixed parameters sliding modes. The objective being to show that it is possible to use robust control laws while keeping the system model and control law synthesis simple.The considered physical system is a seven d.o.f flexible anthropomorphic manipulator robot driven by pneumatic artificial muscles.We address robust control laws, particularly second order sliding modes, Twisting and Super–twisting together with the equivalent control which is associated to them in order to reduce the discontinuities of these type of controls. These laws are applied onto a flexible robot. Through experiment we show their robustness, the influence of modelling uncertainties on performance and the difficulty in synthesizing their parameters for an uncertain system. A convergence accelerator is proposed for enhancing control quality both in regulation and tracking. These theoretical results are experimentally verified through the flexible robot.Due to the difficulty in synthetizing Twisting and Super–twisting control laws, a new approach based on commuted state feedback is presented. The objective being a sliding mode control law with a systematic parameters synthesis using Lyapunov stability condition. This approach named Puma: Polytopic Uncertain Model Approach uses the system’s polytopic model, which allows keeping modelling simple by considering the system, whatever its complexity may be, as a black box. This approach is applied to a flexible robot in simulation ; it is compared to a similar approach to show its interest.In order to evaluate the relevance of these laws from the point of view of performance and implementation simplicity, they are compared to one of the most popular control law: The PID.

Ce mémoire de thèse traite de la stabilité en temps fini et de la stabilisation en temps fini des systèmes dynamiques. En effet, il est souvent important de garantir que pendant le régime transitoire, les trajectoires d'état ne dépassent pas certaines limites prédéfinies afin d'éviter les saturations et l'excitation des non-linéarités du système. Un système dynamique est dit stable en temps fini FTS si, pour tout état initial appartenant à un ensemble borné prédéterminé, la trajectoire d'état reste comprise dans un autre ensemble borné prédéterminé pendant un temps fini et fixé. Lorsque le système est perturbé, on parle de bornitude en temps fini FTB. Premièrement, des nouvelles conditions suffisantes assurant la synthèse d'un correcteur FTB par retour de sortie dynamique des systèmes linéaires continus invariants perturbés ont été développées via une approche descripteur originale. Le résultat a été établi par une transformation de congruence particulière. Les conditions obtenues sont sous forme de LMIs. Deuxièmement, l'utilisation de la notion d'annulateur combinée avec le lemme de Finsler, permet d’obtenir des nouvelles conditions sous formes LMIs garantissant la stabilité et la stabilisation en temps fini des systèmes non linéaires quadratiques. Enfin, pour obtenir des conditions encore moins pessimistes dans un contexte de stabilité en temps fini, de nouveaux développements ont été proposés en utilisant des fonctions de Lyapunov polynomiales / This dissertation deals with the finite time stability and the finite time stabilization of dynamic systems. Indeed, it is often important to ensure that during the transient regime, the state trajectories do not exceed certain predefined limits in order to avoid saturations and excitations of the nonlinearities of the system. Hence the interest is to study the stability of the dynamic system in finite time. A dynamic system is said to be stable in finite time (FTS) if, for any initial state belonging to a predetermined bounded set, the state trajectory remains within another predetermined bounded set for a finite and fixed time. When the system is disturbed, it is called finite time boundedness (FTB). In this manuscript, the goal is to improve the results of finite time stability used in the literature. First, new sufficient conditions expressed in terms of LMIs for the synthesis of an FTB controller by dynamic output feedback have been developed via an original descriptor approach. An original method has been proposed which consists in using a particular congruence transformation. Second, new LMI conditions for the study of finite time stability and finite time stabilization have been proposed for disturbed and undisturbed nonlinear quadratic systems. Third, to obtain even less conservative conditions, new developments have been proposed using polynomial Lyapunov functions

Orientador: Edvaldo Assunção / Resumo: Neste trabalho é proposta a resolução do problema do regulador linear quadrático (Linear Quadratic Regulator - LQR) via desigualdades matriciais lineares (Linear Matrix Inequalities - LMIs) para sistemas lineares e invariantes no tempo sujeitos a incertezas politópicas, bem como para sistemas lineares sujeitos a parâmetros variantes no tempo (Linear Parameter Varying - LPV). O projeto dos controladores é baseado na realimentação derivativa. A escolha da realimentação derivativa se dá devido à sua fácil implementação em certas aplicações como, por exemplo, no controle de vibrações. Os sinais usados na realimentação são aceleração e velocidade, sendo obtidos por meio de acelerômetros. Por meio do método proposto é possível obter condições LMIs para a síntese de controladores que garantam a estabilização do sistema em malha fechada, sendo que os controladores possuem desempenho otimizado. Para a formulação das condições LMIs, uma função de Lyapunov do tipo quadrática é utilizada. Exemplos teóricos e simulações são utilizados como forma de validação dos métodos propostos, além de mostrar que os novos resultados apresentam condições menos conservadoras. Além disso, ao final é apresentada uma implementação prática em um sistema de suspensão ativa, produzida pela Quanser®. / Abstract: The resolution of linear quadratic regulator (LQR) problem via linear matrix inequalities (LMIs) for linear time-invariant systems subject to polytopic uncertainties, as linear systems subjects to linear parameter varying (LPV), is proposed in this work. The controllers' designs are based on the state derivative feedback. The aim to the choice of the state derivative feedback is your easy implementation in a class of mechanical systems, such as in vibration control, for example. The signals used for feedback are acceleration and velocity, it is obtained by means of accelerometers. Through the proposed method it is possible to obtain LMIs conditions for the synthesis of controllers that guarantee the stabilisation of the closed-loop system, being that the controllers have optimised performance. For the LMIs conditions formulations, a Lyapunov function of type quadratic is used. As a form of validation, theoretical examples and simulations are performed, besides to show that the new results are less conservative. Furthermore, a practical implementation in an active suspension system, produced by Quanser®, is performed. / Mestre

Orientador: Marcelo Carvalho Minhoto Teixeira / Resumo: Nesta tese, utiliza-se um otimizador analógico não derivativo proposto por Teixeira & Żak em 1999 como principal ferramenta para os sistemas de controle dos projetos desenvolvidos. Tal otimizador é composto por blocos não lineares e pode ser classificado como um sistema neural artificial. Sistemas chaveados têm grande aplicação prática na otimização de sistemas e são caracterizados por possuírem subsistemas e uma lei de chaveamento que seleciona cada subsistema a cada momento. Deve-se definir condições para que seja possível projetar uma lei de chaveamento que atenda requisitos de projeto. O estudo de técnicas de controle extremal na solução de problemas de busca pelo rastreamento do máximo ponto de potência (do inglês: Maximum Power Point Tracking - MPPT), vem apresentando resultados interessantes na literatura e um tipo de sistema à qual essa técnica pode ser aplicada, é na geração fotovoltaica. Aplica-se o otimizador analógico citado na busca do MPPT de uma célula fotovoltaica, com o objetivo de observar o controle extremal atuando em um processo de otimização, estendendo o controle para quando existem variações de irradiação solar (cenário de uma possível passagem de nuvens). Também observa-se o comportamento do sistema quanto a manter seu correto funcionamento e estabilidade ultimate bounded. A contribuição principal desta tese foi uma nova proposta de utilização conjunta do otimizador de Teixeira & Żak no projeto de controladores ˙ chaveados baseados na minimização da d... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: On this thesis, a non-derivative analog optimizer, proposed by Teixeira & Żak in 1999, was used as the main tool for the proposed control system. Such optimizer is structured by nonlinear blocks and can be classified as an artificial neural system. Switched systems have great theoretical and practical application in systems optimization and are characterized by having subsystems, and a switching law that selects each subsystem at each moment. It is necessary to define conditions so that it is possible to design a switching law for the desired performance of the controlled system. The study of Extremum Seeking Control techniques in the solution of problems of Maximum Power Point Tracking has presented interesting results, and one type of system which this technique can be applied is in the photovoltaic generation. The analog optimizer is applied in the Maximum Power Point Tracking of a photovoltaic cell, with the objective of observing the actuation of the extremal seeking control in an optimization process, extending the control when there are solar irradiation variations (a possible clouds passage scenario). And also observe the behavior of the system and how to maintain its correct functioning and ultimate bounded stability. The main contribution of this thesis was a new procedure for using the mentioned analog optimizer in the design of switched controllers based on the minimization of the derivative of a Lyapunov function. This method allows the relaxed design of controll... (Complete abstract click electronic access below) / Doutor