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Synthèse de commandes et d'observateurs pour les systèmes non-linéaires : application aux systèmes hydrauliques

Abstract : Electrohydraulic systems are characterized by their complex nonlinear model.This feature has made their stabilization using feedback controla worthwhile endeavor. State feedback stabilization usually requires the direct accessability to different system states, which is not always possible.Hence the design of a state estimator is also of great interest. Both controller and observer design are considered in this thesis. First, we start by giving a mathematical model which reflects as best the behaviour of the electrohydraulic system. In our model leakage flow are included meanwhile keeping the model simple enough to be mathematically handled. Next, several methods of designing stabilization feedback control were applied to the electrohydraulic system. In this thesis we present a new simple way to choose the sliding manifold to design a sliding mode controller which is known for its robustness. Then, the problem of designing an observer is considered. The contribution of this thesis consists in designing three different nonlinear observers a, first one based on high-gain method, the second based on drive-respons meethod and the third based on the sliding mode theory. The last observer showed particular interest since it is robust to parameter changes. Eventually we studied the problem of feedback stabilization using estimated states
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Submitted on : Tuesday, April 24, 2018 - 3:32:57 PM
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  • HAL Id : tel-01775458, version 1


Moez Feki. Synthèse de commandes et d'observateurs pour les systèmes non-linéaires : application aux systèmes hydrauliques. Mathématiques générales [math.GM]. Université Paul Verlaine - Metz, 2001. Français. ⟨NNT : 2001METZ007S⟩. ⟨tel-01775458⟩



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