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Commande sous-optimale de position d'un axe flexible

Abstract : $aWe study the position control of a constrained flexible axis. The purpose is to carry our a minimum time displacement control. The study compares two approaches : the optimal control given by the resolution of Pontriagin’s equations and a linear quadratique control. The first approach gives a reference point against which other strategies can be compared, but its realization is unrealistic. It is shown that with an appropriate choice of the weithing matrix, we can obtain acceptable results, simpler to perform and with a closed loop structure. The conception is linear but the stability has been studied with the inherent non linearities of these systems. A sub optimal control system design method has been tested by simulation and implemented on an experimental model
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Submitted on : Friday, March 30, 2018 - 9:52:51 AM
Last modification on : Saturday, October 16, 2021 - 11:14:14 AM

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  • HAL Id : tel-01754551, version 1



Souâd Machmoum. Commande sous-optimale de position d'un axe flexible. Autre. Institut National Polytechnique de Lorraine, 1991. Français. ⟨NNT : 1991INPL057N⟩. ⟨tel-01754551⟩



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