349documents trouvés
Stabilization of linear impulsive systems through a nearly-periodic reset
L.HETEL, J.DAAFOUZ, S.TARBOURIECH, C.PRIEUR
LAGIS, CRAN, Vandoeuvre, MAC, GIPSA-Lab
Papier invité dans une revue : Nonlinear Analysis: Hybrid Systems, Vol.7, N°1, pp.4-15, Février 2013 , N° 12356
Lien : http://hal.archives-ouvertes.fr/hal-00734728
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Abstract
This paper deals with the class of impulsive systems constituted by a continuous-time linear dynamics for all time, except at a sequence of instants. When such a discrete time occurs, the state undergoes a jump, or more precisely follows a discrete linear dynamics. The sequence of time instants, when a discrete dynamics occurs, is nearly-periodic only, i.e. it is distant from a periodic sequence to an uncertain error. This paper succeeds to state tractable conditions to analyze the stability, and to design reset matrices such that the hybrid system is globally exponentially stable to the origin. The approach is based on a polytopic embedding of the uncertain dynamics. Some examples illustrate the main results.
Lyapunov-based hybrid loops for stability and performance of continuous-time control systems
C.PRIEUR, S.TARBOURIECH, L.ZACCARIAN
GIPSA-Lab, MAC
Revue Scientifique : Automatica, Vol.49, N°2, pp.577-584, Février 2013 , N° 12545
Lien : http://hal.archives-ouvertes.fr/hal-00781061
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Abstract
We construct hybrid loops that augment continuous-time control systems. We consider a continuous-time nonlinear plant in feedback with a (possibly non stabilizing) given nonlinear dynamic continuous-time state feedback controller. The arising hybrid closed loops are guaranteed to follow the underlying continuous-time closed-loop dynamics when flowing and to jump in suitable regions of the closed-loop state space to guarantee that a positive definite function $V$ of the closed-loop state and/or a positive definite function $V_p$ of the plant-only state is non-increasing along the hybrid trajectories. Sufficient conditions for the construction of these hybrid loops are given for the nonlinear case and then specialized for the linear case with the use of quadratic functions. For the linear case we illustrate specific choices of the functions $V$ and $V_p$ which allow for the reduction of the overshoot of a scalar output. The proposed approaches are illustrated on linear and nonlinear examples.
A convex hybrid H_infty synthesis with guaranteed convergence rate
F.FICHERA, C.PRIEUR, S.TARBOURIECH, L.ZACCARIAN
MAC, GIPSA-Lab
Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2012 du 10 décembre au 13 décembre 2012, Maui (USA), Décembre 2012, 6p. , N° 12538
Lien : http://hal.archives-ouvertes.fr/hal-00734470
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Abstract
In this paper, a hybrid controller design for a continuous-time linear time-invariant (LTI) plant is presented. The idea is to simultaneously design the flow and jump maps with the respective sets of the controller, guaranteeing H∞ specifications and decay rate of the plant state of the hybrid closed-loop system. A convex LMI-based design procedure is proposed, generalizing the results in [22].
Hybrid high-gain observers without peaking for planar nonlinear systems
C.PRIEUR, S.TARBOURIECH, L.ZACCARIAN
GIPSA-Lab, MAC
Manifestation avec acte : IEEE Conference on Decision and Control ( CDC ) 2012 du 10 décembre au 13 décembre 2012, Maui (USA), Décembre 2012, 6p. , N° 12537
Lien : http://hal.archives-ouvertes.fr/hal-00734471
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Abstract
In this paper we use hybrid techniques to augment high-gain observers for second order nonlinear plant with suitable reset rules where the state of the observer experiences an instantaneous jump if suitable conditions hold. These jump conditions depend on the plant output and on extra states incorporated in the observer which evolve according to some suitable combination of the output error and of its integral. We show that these hybrid rules succeed at removing peaking and illustrate our result on well known case studies taken from the literature.
Robustified dynamic inversion, anti-windup loops & LFT modeling
J.M.BIANNIC, L.BURLION, C.BERARD, S.TARBOURIECH, S.GALEANI, L.ZACCARIAN
ONERA, MAC, Rome
Rapport de Contrat : Projet NICE, Décembre 2012, 200p. , N° 12687
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128778Contrôle non linéaire: linéarisation par bouclage. COCKPIT - Lot LA1
S.TARBOURIECH, G.GARCIA, V.LEITE
MAC
Rapport de Contrat : Convention ONERA F/20 334/DA PPUJ, Décembre 2012, 37p. , N° 12729
Non diffusable
128865Contrôle non linéaire: synthèse anti-windup. Application à la retouche de contrôleurs pour des systèmes saturés. COCKPIT - Lot LA2
S.TARBOURIECH, I.QUEINNEC, J.M.BIANNIC
MAC, ONERA
Rapport de Contrat : Convention ONERA F/20 334/DA PPUJ, Novembre 2012, 44p. , N° 12728
Non diffusable
128863Static anti-windup design for a class on nonlinear systems
J.M.GOMES DA SILVA Jr, M.Z.OLIVEIRA, D.F.COUTINHO, S.TARBOURIECH
UFRGS, UFSC, MAC
Rapport LAAS N°12546, Octobre 2012, 23p.
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128206Anti-windup design for saturation management during piezo-actuated vibration attenuation of the high-speed parallel robot Par2
L.DOUAT, I.QUEINNEC, G.GARCIA, M.MICHELIN, F.PIERROT, S.TARBOURIECH
MAC, Tecnalia, LIRMM
Rapport LAAS N°12459, Septembre 2012, 6p.
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127928Formation flying control for satellites: anti-windup based approach
J.BOADA, C.PRIEUR, S.TARBOURIECH, C.PITTET, C. CHARBONNEL
Albatros Aeronautics, GIPSA-Lab, MAC, CNES, ALCATEL ALENIA, Thalès Alenia Space
Ouvrage (contribution) : Modeling and Optimization in Space Engineering, Series: Springer Optimization and Its Applications, Vol. 73. G. Fasano,J.D. Pintér (Eds.), Springer, 395p., N°ISBN 978-1461444688, Septembre 2012, Chatper 3, 22p. , N° 12412
Lien : http://hal.archives-ouvertes.fr/hal-00744395
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Abstract
Control theory has significantly evolved in the field of the nonlinear control. However, the methods used in the aerospace industry lie usually on linear techniques applied to linearized models. The increasing requirements in terms of operational reliability and performance ask for the development of new control techniques more complex in order to meet the new demands. Therefore the industry is moving to the modern control theory looking for new nonlinear approaches. In particular, actuators saturation represents a nonlinear phenomenon common in almost all physical applications. This can then lead to performance degradation, limit cycle appearance, non-desired equilibrium conditions and even system instability. The objective of this chapter is to adapt and develop the anti-windup compensator design to the control with high precision for the angular and the linear axes of a satellite. In the aerospace application field, this situation meets with the drag-free or the formation flying missions. These missions use high precision thrusters as actuators whose capacity appears to be critically low. Moreover thrusters have a particular modeling. Allocation functions adapted to the anti-windup design are then explored. In addition considering the current state of the art of the anti-windup design, there is a strong necessity of using symmetrizing techniques for the saturation. The main objective of this work consists in applying the developed tools on an aerospace study case. As an example, a complete methodology is proposed to control a formation flying mission controlling both attitude and relative position.