Speaker: 
José Guadalupe ROMERO VELAZQUEZ
Date: 
Fri, 02/08/2013 -
15:00 to 17:00
Lieu: 
Supélec, Amphi. F3.05
Résumé/Abstract: 
This thesis focuses on the design of robust control for nonlinear systems, mainly on mechanical systems. The results presented are to two situations widely discussed in control theory: * The stability of nonlinear systems disturbed. * The global tracking trajectory in mechanical systems having only knowledge of the position. We started giving a design method of robust controls to ensure regulation on non-passive output. In addition, if the system is perturbed (constant unmatched), rigorous proof to its rejection is provided. This result is based mainly on change of coordinates and integral dynamic control. When the scenario to deal is mechanical systems with time-varying matched and unmatched, disturbance, the system is endowed with strong properties as IISS (Integral Input-State Stable) and ISS (Input-State Stable). This is achieved based on the design method to rejection of constant disturbances (unmatched) . However, due to the nonlinearity of the system, the controllers have a high complexity. For the same problem, a second and elegant result is given making an initial change of coordinate on the momenta variable, such that the controller significantly simplifies, preserving the aforementioned robustness properties. Finally, a convincing answer to the problem of global exponential tracking of mechanical systems is given taking into account only the position information. The proposed controller is obtained combining a recently reported exponentially stable immersion and invariance observer and a suitably designed state–feedback passivity–based controller, which assigns to the closed–loop a port–Hamiltonian structure with a desired energy function. The result is applicable to a large class of mechanical systems and, in particular, no assumptions are made on the presence—and exact knowledge—of friction forces.

 

José Guadalupe ROMERO VELAZQUEZ

 a le plaisir de vous inviter à sa soutenance de



 

THÈSE DE DOCTORAT

 

portant sur le sujet :

 

Robuste énergie façonnement commande

des systèmes non linéaires.

 

Cette soutenance aura lieu à Supélec,

 

le vendredi 8 février 2013 à 15h00 en amphi F.3.05

 

Vous êtes cordialement conviés au pot qui suivra dans la salle du conseil du L2S (B.4.40). 

 



Membres du jury :

 

Prof. Romeo ORTEGA L2S-CNRS, Gif-sur-Yvette Directeur de thèse

Prof. Alessandro ASTOLFI   

Imperial College, London

Rapporteur

Prof. Claude SAMSON

INRIA, SOPHIA-ANTIPOLIS

Rapporteur

Prof. Brigitte D’ANDREA NOVEL

Auto, Mines PARISTECH, Paris

Examinateur

Prof. William PASILLAS

L2S-CNRS, Gif-sur-Yvette

Examinateur

Prof. Antoine CHAILLET

L2S-Supelec, Gif-sur-Yvette

Examinateur

 

Abstract

This thesis focuses on the design of robust control for nonlinear systems, mainly on mechanical systems. The results presented are to two situations widely discussed in control theory:

* The stability of nonlinear systems disturbed.

* The global tracking trajectory in mechanical systems having only knowledge of the position.

We started giving a design method of robust controls to ensure regulation on  non-passive output. In addition, if the system is perturbed (constant unmatched), rigorous proof to its rejection is provided. This result is based mainly  on change of coordinates and  integral dynamic control.

When the scenario to deal is mechanical systems with time-varying matched and unmatched, disturbance, the system is endowed with strong properties as IISS (Integral Input-State Stable) and ISS (Input-State Stable). This is achieved based on  the design method  to rejection of constant disturbances (unmatched) . However, due to the nonlinearity of the system, the controllers have a high complexity. For the same problem, a second and elegant result is given making an initial change of coordinate on the momenta variable, such that the controller significantly simplifies, preserving the aforementioned robustness properties.

Finally, a convincing answer to the problem of global exponential tracking of mechanical systems is given taking into account only the position information.  

The proposed controller is obtained combining a recently reported exponentially stable immersion and invariance observer and a suitably designed state–feedback passivity–based controller, which assigns to the closed–loop a port–Hamiltonian structure with a desired energy function. The result is applicable to a large class of mechanical systems and, in particular, no assumptions are made on the presence—and exact knowledge—of friction forces.