Contribution to Robust Control Synthesis Application to Robotics or Aerodynamics Systems

KAFI, Mohamed Redouane (2017) Contribution to Robust Control Synthesis Application to Robotics or Aerodynamics Systems. Doctoral thesis, Université Mohamed Khider - Biskra.

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Abstract

Abstract This thesis contributes to the development of robust control design strategies for uncertain nonlinear mimo systems, in which a model based control approach robust control (H2,H1) framework is introduced and an intelligent control model free control is suggested. In reality an allusion to the Modelizations of the systems CE 150 and TRMS is proposed for the research seems important because they are prerequisite to test the designed robust control law. The investigation starts by a neighboring optimal control law which is coupled with estimation to solve the trajectory tracking and/or regulator problem of a twin-rotor multi-input multi-output system (TRMS) is introduced. The above mentioned technique is applied through the linearization of the TRMS model around its operating point. Since CE-150 helicopters are known for their varying operating conditions along with external disturbances, a local model network H1 control is proposed as a second alternative, for CE-150 helicopter stabilization. The proposed strategy capitalizes on recent developments on H1 control and its promising results in robust stabilization of plants under unstructured uncertainties. Using the fact that the system can be linearized at diferent operating points, a mixed sensitivity H1 controller is designed for the linearized system, and combined within a network to make transitions between them. The proposed control structure ensures robustness, decoupling of the system dynamics while achieving good performance. Alternatively, another approach interval type-2 fuzzy controller is proposed for TRMS control problem because of and owing to, respectively, the nuance existing between model based control approach and model free control, and their simplicity and e�ciency. The main strength of the proposed control algorithm is its robustness with respect to parametric uncertainties and noise measurement. The suggested approaches are validated through a set of computer simulations which illustrate the et ectiveness of the proposed control scheme; the obtained results are presented to illustrate the controller's performance in various operating conditions, and have been successfully applied. A custom real-time control platform design for a quadrotor is introduced and the control framework is designed to be universal but yet, exible for implementation of various control and navigation algorithms. The developed platform is modular and is presented in three categories: hardware, software and communication. System identification is also presented for parameters measurement and estimation. Moreover, a ground station with a graphical user interface is designed for remote control and monitoring. A wireless bidirectional communication unit is also designed to bridge the quadrotor and the ground station. The developed cost e�ective control platform is validated by simulation and experimental test

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