You searched for subject:(Backstepping).
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1.
Zakartchouk Junior, Alexis.
Projeto de um observador passivo não-linear e de um controlador backstepping para navios de superfície.
Degree: Mestrado, Engenharia Naval e Oceânica, 2010, University of São Paulo
URL: http://www.teses.usp.br/teses/disponiveis/3/3135/tde-11082010-153713/ 
;
► Sistemas de Posicionamento Dinâmico (SPD) são sistemas de controle que visam assegurar que um veículo oceânico se mantenha em uma determinada posição ou acompanhe uma…
(more)
▼ Sistemas de Posicionamento Dinâmico (SPD) são sistemas de controle que visam assegurar que um veículo oceânico se mantenha em uma determinada posição ou acompanhe uma trajetória de referência, mediante o emprego exclusivo de seus propulsores. Um SPD pode ser desmembrado em vários módulos específicos, com funções bem determinadas. Os módulos mais importantes são os sistemas de medição de posição e aproamento, o estimador de estados, o controlador e o algoritmo de alocação de empuxos. Atualmente, o Filtro de Kalman Estendido (FKE) é o estimador padrão para todos os SPD comercialmente disponíveis. Entretanto, o emprego do FKE implica em uma série de desvantagens. A sintonização do sistema é demorada e difícil, em função do elevado número de parâmetros de sintonização. Estabilidade assintótica global não pode ser conferida ao sistema. Adicionalmente, é necessário aplicar a técnica de programação de ganhos, uma vez que as equações cinemáticas de movimento do modelo devem ser linearizadas para aproximadamente 36 ângulos de guinada. A fim de eliminar estes óbices, o presente estudo propõe o desenvolvimento de um SPD totalmente não-linear, composto por um observador passivo não-linear e um controlador não-linear backstepping.
Dynamic Positioning Systems (DPS) are control systems used to maintain the vessel on a desired position or pre-defined path exclusively by means of active thrusters. A DPS can be separated into a set of dedicated modules with designated tasks. The most significant modules are the position and heading measurement systems, the state estimator, the controller and the thrust allocation algorithm. Nowadays, the Extended Kalman Filter (EKF) is the standard state estimator for all commercial DPS. However, the EKF technique presents several drawbacks. There is a large number of tuning parameters which requires a time-consuming tuning procedure. Global asymptotic stability cannot be assured to the system. Furthermore, it requires the use of a gain-scheduling technique, since the model is linearized about approximately 36 yaw angles due to the kinematics equations of motions. To solve these problems, this study proposes the development of a fully nonlinear DPS comprising a passive nonlinear observer and a nonlinear backstepping controller.
Advisors/Committee Members: Morishita, Helio Mitio.
Subjects/Keywords: Backstepping; Backstepping; Dynamic positioning; Nonlinear observer; Observador não-linear; Posicionamento dinâmico
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APA (6th Edition):
Zakartchouk Junior, A. (2010). Projeto de um observador passivo não-linear e de um controlador backstepping para navios de superfície. (Masters Thesis). University of São Paulo. Retrieved from http://www.teses.usp.br/teses/disponiveis/3/3135/tde-11082010-153713/ ;
Chicago Manual of Style (16th Edition):
Zakartchouk Junior, Alexis. “Projeto de um observador passivo não-linear e de um controlador backstepping para navios de superfície.” 2010. Masters Thesis, University of São Paulo. Accessed January 22, 2021.
http://www.teses.usp.br/teses/disponiveis/3/3135/tde-11082010-153713/ ;.
MLA Handbook (7th Edition):
Zakartchouk Junior, Alexis. “Projeto de um observador passivo não-linear e de um controlador backstepping para navios de superfície.” 2010. Web. 22 Jan 2021.
Vancouver:
Zakartchouk Junior A. Projeto de um observador passivo não-linear e de um controlador backstepping para navios de superfície. [Internet] [Masters thesis]. University of São Paulo; 2010. [cited 2021 Jan 22].
Available from: http://www.teses.usp.br/teses/disponiveis/3/3135/tde-11082010-153713/ ;.
Council of Science Editors:
Zakartchouk Junior A. Projeto de um observador passivo não-linear e de um controlador backstepping para navios de superfície. [Masters Thesis]. University of São Paulo; 2010. Available from: http://www.teses.usp.br/teses/disponiveis/3/3135/tde-11082010-153713/ ;
University of Alberta
2.
Banaei Khosroushahi, Reza.
PDE Backstepping Boundary Observer Design with Application
to Thermal Management of PCR Process in Lab-on-a-Chip
Devices.
Degree: PhD, Department of Electrical and Computer
Engineering, 2013, University of Alberta
URL: https://era.library.ualberta.ca/files/8g84mn646
► In the past two decades, the idea of Lab-on-a-Chip (LOC) devices has received a growing attention from researchers. A Lab-on-a-Chip device can be thought of…
(more)
▼ In the past two decades, the idea of Lab-on-a-Chip
(LOC) devices has received a growing attention from researchers. A
Lab-on-a-Chip device can be thought of as a miniaturized biological
microchip that integrates several functionalities such as sample
pre-treatment, sample transportation, mixing, reaction, separation
and detection. Among the important functionalities that have been
successfully integrated into a Lab-on-a-Chip device is the
Polymerase chain reaction (PCR) process which enables rapid and
inexpensive genetic analysis. PCR process relies on a thermal
cycling process of repeated heating and cooling to replicate the
DNA to a sufficient amount for detection and analysis. However, the
PCR process requires precise measurement and control of the
reaction temperature that is a challenging problem especially in
the miniaturized LOC environment. The challenges associated with
the thermal control problem of a PCR process in the LOC environment
fall into two categories: first, there is no direct measurement of
the temperature inside the reaction chamber and second, the heat
distribution equation governing the thermal dynamics inside the
microchip naturally leads the modeling and control of the microchip
into the distributed parameter systems framework. This thesis deals
with the estimation of the temperature inside the PCR-LOC
microchip. Our goal in this thesis has two folds: first to
contribute to the backstepping theory for the PDE systems both in
the observer design and controller design stages, and second to use
this theory for our application, PCR-LOC microchip. PDE
Backstepping boundary observer design and its successful
implementation involve several challenges, including: -Solving the
PDE equation for the kernel function of the integral transformation
in the PDE backstepping design and all of the numerical issues that
come along. -Simulation aspects of the coupled PDE system composed
of the PDE observer and the original PDE system. -Verification
aspects, i.e. how to ensure that calibration is correct and the PDE
observer actually presents the temperature inside the chamber. This
thesis presents a number of innovative approaches to exclusively
deal with each of the aforementioned challenges. The successful
implementation of the designed observer and a previously designed
controller is also presented.
Subjects/Keywords: PDE Backstepping; Thermal Management; Boundary Observer
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APA (6th Edition):
Banaei Khosroushahi, R. (2013). PDE Backstepping Boundary Observer Design with Application
to Thermal Management of PCR Process in Lab-on-a-Chip
Devices. (Doctoral Dissertation). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/8g84mn646
Chicago Manual of Style (16th Edition):
Banaei Khosroushahi, Reza. “PDE Backstepping Boundary Observer Design with Application
to Thermal Management of PCR Process in Lab-on-a-Chip
Devices.” 2013. Doctoral Dissertation, University of Alberta. Accessed January 22, 2021.
https://era.library.ualberta.ca/files/8g84mn646.
MLA Handbook (7th Edition):
Banaei Khosroushahi, Reza. “PDE Backstepping Boundary Observer Design with Application
to Thermal Management of PCR Process in Lab-on-a-Chip
Devices.” 2013. Web. 22 Jan 2021.
Vancouver:
Banaei Khosroushahi R. PDE Backstepping Boundary Observer Design with Application
to Thermal Management of PCR Process in Lab-on-a-Chip
Devices. [Internet] [Doctoral dissertation]. University of Alberta; 2013. [cited 2021 Jan 22].
Available from: https://era.library.ualberta.ca/files/8g84mn646.
Council of Science Editors:
Banaei Khosroushahi R. PDE Backstepping Boundary Observer Design with Application
to Thermal Management of PCR Process in Lab-on-a-Chip
Devices. [Doctoral Dissertation]. University of Alberta; 2013. Available from: https://era.library.ualberta.ca/files/8g84mn646
3.
Haddad, Alain.
Stratégie de commande tolérante aux fautes active pour des systèmes suractionnés : Active fault tolerant control strategy for overactuated systems.
Degree: Docteur es, Automatique et informatique industrielle, 2014, Université Lille I – Sciences et Technologies
URL: http://www.theses.fr/2014LIL10207
► Une stratégie de commande tolérante aux fautes active pour des systèmes suractionnés est présentée dans ce mémoire de thèse. Elle est formée de 4 étapes…
(more)
▼ Une stratégie de commande tolérante aux fautes active pour des systèmes suractionnés est présentée dans ce mémoire de thèse. Elle est formée de 4 étapes : détection rapide du défaut, activation d’une commande tolérante aux fautes qui assure le suivi de trajectoire du système en présence du défaut, localisation précise du défaut et finalement reconfiguration du système en déconnectant ou en bloquant dans une position déterminée, le composant défaillant. Cette stratégie de commande s’applique à un véhicule autonome de type 2WS4WD : lorsque la déviation latérale du véhicule dépasse un seuil de sécurité dynamique, une commande tolérante aux fautes basée sur la génération de références est activée. Son objectif est d’assurer la redistribution des tâches au niveau des actionneurs sains, non utilisés en fonctionnement normal, pour compenser l’effet du défaut. La loi de commande est élaborée en utilisant la théorie de Lyapunov et la technique du backstepping et calculée par deux boucles interconnectées. La première boucle, appelée boucle externe, calcule les nouveaux objectifs locaux nécessaires pour atteindre l’objectif global du système. La second boucle, appelée boucle interne, calcule la loi de commande nécessaire pour assurer le suivi des objectifs locaux élaborés dans la boucle externe. Un algorithme de localisation précise de défaut est ensuite appliqué pour déterminer le composant défaillant. Une fois ce composant identifié, le système suractionné est reconfiguré en utilisant uniquement les composants sains. Les algorithmes de diagnostic et de commande tolérante aux fautes sont finalement validés en utilisant une co-simulation des logiciels CarSim et Matlab/Simulink.
An active fault tolerant control (AFTC) strategy for overactuated systems is presented in this thesis. It consists of four steps: detecting very quickly the fault, activating a fault tolerant control law for preserving the stability of the overactuated system in presence of the fault, localizing precisely the faulty component, and finally reconfiguring the system by maintaining only the healthy components. This strategy is applied to an autonomous 2WS4WD vehicle : when the vehicle’s lateral deviation exceeds a dynamic security threshold, the fault tolerant control algorithm is activated. It is based on a dynamic reference generation and consists in controlling the redundant actuators which are not used in normal behavior. The control law used for this task is designed using Lyapunov theory and backstepping technique. It consists of two interconnected control loops: an outer loop and an inner loop. The outer loop ensures the computation of dynamic references necessary for preserving the trajectory tracking of the vehicle. The inner loop ensures the tracking of the dynamic references generated in the outer loop. A fault isolation module is then applied to determine precisely the faulty component. Once it is isolated, the system is controlled by using only healthy components. The diagnosis and fault tolerant control schemes are validated on a realistic…
Advisors/Committee Members: Cocquempot, Vincent (thesis director), Aitouche, Abdelouahab (thesis director).
Subjects/Keywords: Systèmes suractionnés; Technique de backstepping; 629.895
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APA (6th Edition):
Haddad, A. (2014). Stratégie de commande tolérante aux fautes active pour des systèmes suractionnés : Active fault tolerant control strategy for overactuated systems. (Doctoral Dissertation). Université Lille I – Sciences et Technologies. Retrieved from http://www.theses.fr/2014LIL10207
Chicago Manual of Style (16th Edition):
Haddad, Alain. “Stratégie de commande tolérante aux fautes active pour des systèmes suractionnés : Active fault tolerant control strategy for overactuated systems.” 2014. Doctoral Dissertation, Université Lille I – Sciences et Technologies. Accessed January 22, 2021.
http://www.theses.fr/2014LIL10207.
MLA Handbook (7th Edition):
Haddad, Alain. “Stratégie de commande tolérante aux fautes active pour des systèmes suractionnés : Active fault tolerant control strategy for overactuated systems.” 2014. Web. 22 Jan 2021.
Vancouver:
Haddad A. Stratégie de commande tolérante aux fautes active pour des systèmes suractionnés : Active fault tolerant control strategy for overactuated systems. [Internet] [Doctoral dissertation]. Université Lille I – Sciences et Technologies; 2014. [cited 2021 Jan 22].
Available from: http://www.theses.fr/2014LIL10207.
Council of Science Editors:
Haddad A. Stratégie de commande tolérante aux fautes active pour des systèmes suractionnés : Active fault tolerant control strategy for overactuated systems. [Doctoral Dissertation]. Université Lille I – Sciences et Technologies; 2014. Available from: http://www.theses.fr/2014LIL10207
Virginia Tech
4.
Kroeger, Kenneth Edward.
Design and Evaluation of a Fixed-Pitch Multirotor UAV with a Nonlinear Control Strategy.
Degree: MS, Mechanical Engineering, 2013, Virginia Tech
URL: http://hdl.handle.net/10919/23109
► The use and practical applications of small UAV systems has continually grown in the past several years in both the public and private sectors. These…
(more)
▼ The use and practical applications of small UAV systems has continually grown in the past several years in both the public and private sectors. These UAV systems are used for not only defensive purposes, but for commercial applications such as exterior bridge and home inspections, wildlife/wildfire management and observation, conservation exercises, law-enforcement, radio-repeating operations, and a wide variety of other uses that may not warrant the use, expense, space constraints, or risk of a manned aircraft. This thesis focuses on the design of a fixed pitch multirotor UAV system for use in furthering research projects and facilitating payload data collection from a flying platform without the expense or risk of testing with available larger UAV systems. The design of a multirotor UAV system with a flight control scheme, communication architecture and hardware, electrical architecture and hardware, and mechanical design is presented. An Extended Kalman Filter (EKF) strategy is implemented aboard a developed Inertial Measurement Unit (IMU) to estimate vehicle state. Experiments then validated the estimates from the EKF through a comparative approach between the developed unit and a commercial unit. A nonlinear flight control system is implemented based on an Integral-
Backstepping control strategy. The flight control strategy was then fully simulated and exhaustively tested under a variety of external disturbances and initial conditions from a fully dynamic modeled environment. Parameters about the vehicle were experimentally determined to increase the accuracy of the model which would increase the chances of successful flight operations. Flight demonstrations were conducted to evaluate the abilities and performance of the control system, along with testing the interface abilities and reliability between a universal ground control station (UGCS) and the aircraft. Lastly, the model was revisited with the input data from the flight control experiment and the output captured was evaluated against the output of the model system to evaluate effectiveness, reliability, and accuracy of the model. The results of the comparison showed that the computer simulation was accurate in predicting attitude and altitude of the vehicle to that of the realized system.
Advisors/Committee Members: Kochersberger, Kevin Bruce (committeechair), Woolsey, Craig A. (committee member), Leonessa, Alexander (committee member).
Subjects/Keywords: UAV; Unmanned; HexaCopter; IMU; EKF; Integral Backstepping
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APA (6th Edition):
Kroeger, K. E. (2013). Design and Evaluation of a Fixed-Pitch Multirotor UAV with a Nonlinear Control Strategy. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/23109
Chicago Manual of Style (16th Edition):
Kroeger, Kenneth Edward. “Design and Evaluation of a Fixed-Pitch Multirotor UAV with a Nonlinear Control Strategy.” 2013. Masters Thesis, Virginia Tech. Accessed January 22, 2021.
http://hdl.handle.net/10919/23109.
MLA Handbook (7th Edition):
Kroeger, Kenneth Edward. “Design and Evaluation of a Fixed-Pitch Multirotor UAV with a Nonlinear Control Strategy.” 2013. Web. 22 Jan 2021.
Vancouver:
Kroeger KE. Design and Evaluation of a Fixed-Pitch Multirotor UAV with a Nonlinear Control Strategy. [Internet] [Masters thesis]. Virginia Tech; 2013. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/10919/23109.
Council of Science Editors:
Kroeger KE. Design and Evaluation of a Fixed-Pitch Multirotor UAV with a Nonlinear Control Strategy. [Masters Thesis]. Virginia Tech; 2013. Available from: http://hdl.handle.net/10919/23109
Delft University of Technology
5.
Van Gils, P. (author).
Adaptive Incremental Backstepping Flight Control.
Degree: 2015, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:f62ac38d-5101-4230-ad90-d54543c1f1b8
► This thesis deals with the development of Adaptive Incremental Backstepping control laws for a high-performance aircraft model (F-16), in order to make the airplane robustly…
(more)
▼ This thesis deals with the development of Adaptive Incremental Backstepping control laws for a high-performance aircraft model (F-16), in order to make the airplane robustly seek references in roll rate and angle of attack at a constant airspeed while minimizing sideslip. An Incremental Backstepping scheme that relies on estimates of the angular accelerations and measurements of the current control deflections is used to reduce the dependency on the on-board aircraft model. The contribution of this thesis is the design and evaluation of three parameter estimators to handle the remaining uncertainties. The estimators that are evaluated in this research are based on Tuning Functions, Least-Squares and Immersion & Invariance. It is shown that the Incremental Backstepping controller is not only more robust to uncertainties in the system dynamics compared to Backstepping, but is also more robust to uncertainties in the control effectiveness matrix. Furthermore, by augmenting the Incremental control law with on-line parameter update laws, the tracking performance of the uncertain F-16 model is significantly increased. The results of this study show the great potential of Adaptive Incremental Backstepping control in increasing the survivability of damaged aircraft.
Control and Simulation
Control and Operations
Aerospace Engineering
Advisors/Committee Members: Chu, Q.P. (mentor).
Subjects/Keywords: flight control; incremental control; robust control; adaptive control; fault-tolerant; backstepping; adaptive backstepping; incremental backstepping; parameter estimation; system identification; immersion and invariance; tuning functions; recursive least-squares
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APA (6th Edition):
Van Gils, P. (. (2015). Adaptive Incremental Backstepping Flight Control. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:f62ac38d-5101-4230-ad90-d54543c1f1b8
Chicago Manual of Style (16th Edition):
Van Gils, P (author). “Adaptive Incremental Backstepping Flight Control.” 2015. Masters Thesis, Delft University of Technology. Accessed January 22, 2021.
http://resolver.tudelft.nl/uuid:f62ac38d-5101-4230-ad90-d54543c1f1b8.
MLA Handbook (7th Edition):
Van Gils, P (author). “Adaptive Incremental Backstepping Flight Control.” 2015. Web. 22 Jan 2021.
Vancouver:
Van Gils P(. Adaptive Incremental Backstepping Flight Control. [Internet] [Masters thesis]. Delft University of Technology; 2015. [cited 2021 Jan 22].
Available from: http://resolver.tudelft.nl/uuid:f62ac38d-5101-4230-ad90-d54543c1f1b8.
Council of Science Editors:
Van Gils P(. Adaptive Incremental Backstepping Flight Control. [Masters Thesis]. Delft University of Technology; 2015. Available from: http://resolver.tudelft.nl/uuid:f62ac38d-5101-4230-ad90-d54543c1f1b8
NSYSU
6.
Lin, Yan-Si.
Design of Backstepping Controllers for Perturbed Nonlinear Systems in Semi-strict Feedback Form.
Degree: PhD, Electrical Engineering, 2014, NSYSU
URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0631114-172039
► Three robust control strategies are proposed in this dissertation for nonlinear dynamic systems with matched and mismatched perturbations. Firstly, a block backstepping control method is…
(more)
▼ Three robust control strategies are proposed in this dissertation for nonlinear dynamic systems with matched and mismatched perturbations. Firstly, a block
backstepping control method is presented so that it can be directly applied to systems with multiple state delayed perturbations in block semi-strict feedback form to solve regulation problems. The terms in the dynamic equations which do not satisfy the block strict-feedback form are accumulated in the last design step and are suppressed effectively by the designed adaptive gains. Adaptive mechanisms are employed in each of the virtual input controllers as well as the robust controller, hence the least upper bounds of perturbations are not required to be known in advance, and the property of asymptotic stability is guaranteed. Secondly, a terminal block
backstepping control method is presented for a class of multi-input systems with matched and mismatched perturbations to solve regulation problems. A derivative estimation algorithm embedded in the controller is utilized to estimate the perturbations, so that the drawbacks of so-called ``explosion of complexity" and ``singularity problem" are totally eliminated. This control scheme not only has the ability of dealing with mismatched perturbations, but also is capable of driving the controlled states to reach zero within finite time. Thirdly, synchronization of two different chaotic systems with matched and mismatched perturbations by utilizing adaptive
backstepping control technique is developed. The resultant control scheme guarantees the property of uniformly ultimately boundedness when solving the chaotic synchronization problems. Several numerical examples are demonstrated for showing the feasibility of the proposed control methodologies.
Advisors/Committee Members: Yon-Ping Chen (chair), Chih-Chiang Cheng (committee member), Yeong-Jeu Sun (chair), Shyh-leh Chen (chair), Wu-Chang Su (chair).
Subjects/Keywords: semi-strict feedback form; Backstepping control; terminal block backstepping control; Lyapunov stability t; strict feedback form
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APA ·
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Manager
APA (6th Edition):
Lin, Y. (2014). Design of Backstepping Controllers for Perturbed Nonlinear Systems in Semi-strict Feedback Form. (Doctoral Dissertation). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0631114-172039
Chicago Manual of Style (16th Edition):
Lin, Yan-Si. “Design of Backstepping Controllers for Perturbed Nonlinear Systems in Semi-strict Feedback Form.” 2014. Doctoral Dissertation, NSYSU. Accessed January 22, 2021.
http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0631114-172039.
MLA Handbook (7th Edition):
Lin, Yan-Si. “Design of Backstepping Controllers for Perturbed Nonlinear Systems in Semi-strict Feedback Form.” 2014. Web. 22 Jan 2021.
Vancouver:
Lin Y. Design of Backstepping Controllers for Perturbed Nonlinear Systems in Semi-strict Feedback Form. [Internet] [Doctoral dissertation]. NSYSU; 2014. [cited 2021 Jan 22].
Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0631114-172039.
Council of Science Editors:
Lin Y. Design of Backstepping Controllers for Perturbed Nonlinear Systems in Semi-strict Feedback Form. [Doctoral Dissertation]. NSYSU; 2014. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0631114-172039
Universidade do Rio Grande do Norte
7.
Amorim, Breno Meira Moura de.
Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
.
Degree: 2012, Universidade do Rio Grande do Norte
URL: http://repositorio.ufrn.br/handle/123456789/18572
► This research aims at developing a variable structure adaptive backstepping controller (VS-ABC) by using state observers for SISO (Single Input Single Output), linear and time…
(more)
▼ This research aims at developing a variable structure adaptive
backstepping controller
(VS-ABC) by using state observers for SISO (Single Input Single Output),
linear and time invariant systems with relative degree one. Therefore, the lters
were replaced by a Luenberger Adaptive Observer and the control algorithm uses
switching laws. The presented simulations compare the controller performance, considering
when the state variables are estimated by an observer, with the case that the
variables are available for measurement. Even with numerous performance advantages,
adaptive
backstepping controllers still have very complex algorithms, especially
when the system state variables are not measured, since the use of lters on the
plant input and output is not something trivial. As an attempt to make the controller
design more intuitive, an adaptive observer as an alternative to commonly
used K lters can be used. Furthermore, since the states variables are considered
known, the controller has a reduction on the dependence of the unknown plant parameters
on the design. Also, switching laws could be used in the controller instead
of the traditional integral adaptive laws because they improve the system transient
performance and increase the robustness against external disturbances in the plant
input
Advisors/Committee Members: Araújo, Aldayr Dantas de (advisor), CPF:10829741453 (advisor), http://lattes.cnpq.br/3165031680223608 (advisor), Queiroz, Kurios Iuri Pinheiro de Melo (advisor), CPF:01187266418 (advisor), http://lattes.cnpq.br/7489022506091803 (advisor).
Subjects/Keywords: controle adaptativo backstepping;
observadores de estado;
sistemas com estrutura variável;
adaptive backstepping control;
state observers;
variable structure systems
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APA ·
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MLA ·
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Manager
APA (6th Edition):
Amorim, B. M. M. d. (2012). Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
. (Thesis). Universidade do Rio Grande do Norte. Retrieved from http://repositorio.ufrn.br/handle/123456789/18572
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Amorim, Breno Meira Moura de. “Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
.” 2012. Thesis, Universidade do Rio Grande do Norte. Accessed January 22, 2021.
http://repositorio.ufrn.br/handle/123456789/18572.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Amorim, Breno Meira Moura de. “Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
.” 2012. Web. 22 Jan 2021.
Vancouver:
Amorim BMMd. Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
. [Internet] [Thesis]. Universidade do Rio Grande do Norte; 2012. [cited 2021 Jan 22].
Available from: http://repositorio.ufrn.br/handle/123456789/18572.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Amorim BMMd. Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
. [Thesis]. Universidade do Rio Grande do Norte; 2012. Available from: http://repositorio.ufrn.br/handle/123456789/18572
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
8.
Kurios Iuri Pinheiro de Melo Queiroz.
Controlador adaptativo backstepping a estrutura variável.
Degree: 2008, Universidade Federal do Rio Grande do Norte
URL: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=2197
► Neste trabalho, um controlador adaptativo backstepping a estrutura variável (Variable Structure Adaptive Backstepping Controller, VS-ABC) é apresentado para plantas monovariáveis, lineares e invariantes no tempo…
(more)
▼ Neste trabalho, um controlador adaptativo backstepping a estrutura variável (Variable Structure Adaptive Backstepping Controller, VS-ABC) é apresentado para plantas monovariáveis, lineares e invariantes no tempo com grau relativo unitário. Ao invés das tradicionais leis integrais para estimação dos parâmetros da planta, leis chaveadas são utilizadas com o objetivo de aumentar a robustez em relação a incertezas paramétricas e distúrbios externos, bem como melhorar o desempenho transitório do sistema. Adicionalmente, o projeto do novo controlador é mais intuitivo quando comparado ao controlador backstepping original, uma vez que os relés introduzidos apresentam amplitudes diretamente relacionadas com os parâmetros nominais da planta. Esta nova abordagem, com uso de estrutura variável, também reduz a complexidade das implementações práticas, motivando a utilização de componentes industriais, tais como, FPGAs (Field Programmable Gate Arrays ), MCUs (Microcontrollers) e DSPs (Digital Signal Processors). Simulações preliminares para um sistema instável de primeira e segunda ordem são apresentadas de modo a corroborar os estudos. Um dos exemplos de Rohrs é ainda abordado através de simulações, para os dois cenários adaptativos: o controlador backstepping adaptativo original e o VS-ABC
In this work, a Variable Structure Adaptive Backstepping Controller (VS-ABC) for monovariable, linear time invariant plants with relative degree one is presented. Instead of traditional integral adaptive laws for estimating the plant parameters, switching laws are used to increase robustness to parametric uncertainties and disturbances, as well as, to improve transient response. Moreover, the new controller design is more intuitive when compared with the original adaptive backstepping controller, since the amplitude relays are related to the plant nominal parameters. This new approach, using variable structure, also reduces the practical implementation complexity, encouraging the use of industrial embedded components, such as, FPGAs (Field Programmable Gate Arrays), MCUs (Microcontrollers) and DSPs (Digital Signal Processors). Additionally, preliminary simulation results for an unstable rst and second order system are shown in order to corroborate the theoretical studies. A Rohrs example is also simulated for both adaptive schemes: the adaptive backstepping controller and the VS-ABC
Advisors/Committee Members: Aldayr Dantas de Araújo, Josenalde Barbosa de Oliveira, Ramon Romankevicius Costa.
Subjects/Keywords: Sistemas com estrutura variável; Controle adaptativo; Controlador Backstepping Adaptativo; Robustez; ENGENHARIA ELETRICA; Adaptive Control; Robustness; Variable Structure Systems; Adaptive Backstepping Controller
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APA (6th Edition):
Queiroz, K. I. P. d. M. (2008). Controlador adaptativo backstepping a estrutura variável. (Thesis). Universidade Federal do Rio Grande do Norte. Retrieved from http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=2197
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Queiroz, Kurios Iuri Pinheiro de Melo. “Controlador adaptativo backstepping a estrutura variável.” 2008. Thesis, Universidade Federal do Rio Grande do Norte. Accessed January 22, 2021.
http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=2197.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Queiroz, Kurios Iuri Pinheiro de Melo. “Controlador adaptativo backstepping a estrutura variável.” 2008. Web. 22 Jan 2021.
Vancouver:
Queiroz KIPdM. Controlador adaptativo backstepping a estrutura variável. [Internet] [Thesis]. Universidade Federal do Rio Grande do Norte; 2008. [cited 2021 Jan 22].
Available from: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=2197.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Queiroz KIPdM. Controlador adaptativo backstepping a estrutura variável. [Thesis]. Universidade Federal do Rio Grande do Norte; 2008. Available from: http://bdtd.bczm.ufrn.br/tedesimplificado//tde_busca/arquivo.php?codArquivo=2197
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Universidade do Rio Grande do Norte
9.
Sanca, Armando Sanca.
Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
.
Degree: 2013, Universidade do Rio Grande do Norte
URL: http://repositorio.ufrn.br/handle/123456789/15220
► In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a…
(more)
▼ In this Thesis, the development of the dynamic model of multirotor unmanned
aerial vehicle with vertical takeoff and landing characteristics, considering input
nonlinearities and a full state robust
backstepping controller are presented. The
dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better
mathematical representation of the mechanical system for system analysis and control
design, not only when it is hovering, but also when it is taking-off, or landing, or
flying to perform a task. The input nonlinearities are the deadzone and saturation,
where the gravitational effect and the inherent physical constrains of the rotors are
related and addressed. The experimental multirotor aerial vehicle is equipped with
an inertial measurement unit and a sonar sensor, which appropriately provides measurements
of attitude and altitude. A real-time attitude estimation scheme based on
the extended Kalman filter using quaternions was developed. Then, for robustness
analysis, sensors were modeled as the ideal value with addition of an unknown bias
and unknown white noise. The bounded robust attitude/altitude controller were derived
based on globally uniformly practically asymptotically stable for real systems,
that remains globally uniformly asymptotically stable if and only if their solutions
are globally uniformly bounded, dealing with convergence and stability into a ball
of the state space with non-null radius, under some assumptions. The Lyapunov
analysis technique was used to prove the stability of the closed-loop system, compute
bounds on control gains and guaranteeing desired bounds on attitude dynamics
tracking errors in the presence of measurement disturbances. The controller laws
were tested in numerical simulations and in an experimental hexarotor, developed
at the UFRN Robotics Laboratory
Advisors/Committee Members: Alsina, Pablo Javier (advisor), CPF:42487455420 (advisor), http://lattes.cnpq.br/3653597363789712 (advisor).
Subjects/Keywords: Hexarrotor. Modelagem Dinâmica. Controle robusto por backstepping. Estimação de atitude por FKE;
Hexarotor. Dynamic modeling. Robust backstepping control. EKF Attitude Estimation
Record Details
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Record Details
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Sanca, A. S. (2013). Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
. (Doctoral Dissertation). Universidade do Rio Grande do Norte. Retrieved from http://repositorio.ufrn.br/handle/123456789/15220
Chicago Manual of Style (16th Edition):
Sanca, Armando Sanca. “Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
.” 2013. Doctoral Dissertation, Universidade do Rio Grande do Norte. Accessed January 22, 2021.
http://repositorio.ufrn.br/handle/123456789/15220.
MLA Handbook (7th Edition):
Sanca, Armando Sanca. “Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
.” 2013. Web. 22 Jan 2021.
Vancouver:
Sanca AS. Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
. [Internet] [Doctoral dissertation]. Universidade do Rio Grande do Norte; 2013. [cited 2021 Jan 22].
Available from: http://repositorio.ufrn.br/handle/123456789/15220.
Council of Science Editors:
Sanca AS. Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
. [Doctoral Dissertation]. Universidade do Rio Grande do Norte; 2013. Available from: http://repositorio.ufrn.br/handle/123456789/15220
Universidade do Rio Grande do Norte
10.
Amorim, Breno Meira Moura de.
Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
.
Degree: 2012, Universidade do Rio Grande do Norte
URL: http://repositorio.ufrn.br/handle/123456789/18572
► This research aims at developing a variable structure adaptive backstepping controller (VS-ABC) by using state observers for SISO (Single Input Single Output), linear and time…
(more)
▼ This research aims at developing a variable structure adaptive
backstepping controller
(VS-ABC) by using state observers for SISO (Single Input Single Output),
linear and time invariant systems with relative degree one. Therefore, the lters
were replaced by a Luenberger Adaptive Observer and the control algorithm uses
switching laws. The presented simulations compare the controller performance, considering
when the state variables are estimated by an observer, with the case that the
variables are available for measurement. Even with numerous performance advantages,
adaptive
backstepping controllers still have very complex algorithms, especially
when the system state variables are not measured, since the use of lters on the
plant input and output is not something trivial. As an attempt to make the controller
design more intuitive, an adaptive observer as an alternative to commonly
used K lters can be used. Furthermore, since the states variables are considered
known, the controller has a reduction on the dependence of the unknown plant parameters
on the design. Also, switching laws could be used in the controller instead
of the traditional integral adaptive laws because they improve the system transient
performance and increase the robustness against external disturbances in the plant
input
Advisors/Committee Members: Araújo, Aldayr Dantas de (advisor), CPF:10829741453 (advisor), http://lattes.cnpq.br/3165031680223608 (advisor), Queiroz, Kurios Iuri Pinheiro de Melo (advisor), CPF:01187266418 (advisor), http://lattes.cnpq.br/7489022506091803 (advisor).
Subjects/Keywords: controle adaptativo backstepping;
observadores de estado;
sistemas com estrutura variável;
adaptive backstepping control;
state observers;
variable structure systems
Record Details
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Record Details
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Amorim, B. M. M. d. (2012). Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
. (Masters Thesis). Universidade do Rio Grande do Norte. Retrieved from http://repositorio.ufrn.br/handle/123456789/18572
Chicago Manual of Style (16th Edition):
Amorim, Breno Meira Moura de. “Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
.” 2012. Masters Thesis, Universidade do Rio Grande do Norte. Accessed January 22, 2021.
http://repositorio.ufrn.br/handle/123456789/18572.
MLA Handbook (7th Edition):
Amorim, Breno Meira Moura de. “Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
.” 2012. Web. 22 Jan 2021.
Vancouver:
Amorim BMMd. Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
. [Internet] [Masters thesis]. Universidade do Rio Grande do Norte; 2012. [cited 2021 Jan 22].
Available from: http://repositorio.ufrn.br/handle/123456789/18572.
Council of Science Editors:
Amorim BMMd. Controlador adaptativo backstepping a estrutura variavel com Observadores de estado
. [Masters Thesis]. Universidade do Rio Grande do Norte; 2012. Available from: http://repositorio.ufrn.br/handle/123456789/18572
Universidade do Rio Grande do Norte
11.
Sanca, Armando Sanca.
Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
.
Degree: 2013, Universidade do Rio Grande do Norte
URL: http://repositorio.ufrn.br/handle/123456789/15220
► In this Thesis, the development of the dynamic model of multirotor unmanned aerial vehicle with vertical takeoff and landing characteristics, considering input nonlinearities and a…
(more)
▼ In this Thesis, the development of the dynamic model of multirotor unmanned
aerial vehicle with vertical takeoff and landing characteristics, considering input
nonlinearities and a full state robust
backstepping controller are presented. The
dynamic model is expressed using the Newton-Euler laws, aiming to obtain a better
mathematical representation of the mechanical system for system analysis and control
design, not only when it is hovering, but also when it is taking-off, or landing, or
flying to perform a task. The input nonlinearities are the deadzone and saturation,
where the gravitational effect and the inherent physical constrains of the rotors are
related and addressed. The experimental multirotor aerial vehicle is equipped with
an inertial measurement unit and a sonar sensor, which appropriately provides measurements
of attitude and altitude. A real-time attitude estimation scheme based on
the extended Kalman filter using quaternions was developed. Then, for robustness
analysis, sensors were modeled as the ideal value with addition of an unknown bias
and unknown white noise. The bounded robust attitude/altitude controller were derived
based on globally uniformly practically asymptotically stable for real systems,
that remains globally uniformly asymptotically stable if and only if their solutions
are globally uniformly bounded, dealing with convergence and stability into a ball
of the state space with non-null radius, under some assumptions. The Lyapunov
analysis technique was used to prove the stability of the closed-loop system, compute
bounds on control gains and guaranteeing desired bounds on attitude dynamics
tracking errors in the presence of measurement disturbances. The controller laws
were tested in numerical simulations and in an experimental hexarotor, developed
at the UFRN Robotics Laboratory
Advisors/Committee Members: Alsina, Pablo Javier (advisor), CPF:42487455420 (advisor), http://lattes.cnpq.br/3653597363789712 (advisor).
Subjects/Keywords: Hexarrotor. Modelagem Dinâmica. Controle robusto por backstepping. Estimação de atitude por FKE;
Hexarotor. Dynamic modeling. Robust backstepping control. EKF Attitude Estimation
Record Details
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Record Details
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« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Sanca, A. S. (2013). Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
. (Thesis). Universidade do Rio Grande do Norte. Retrieved from http://repositorio.ufrn.br/handle/123456789/15220
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Sanca, Armando Sanca. “Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
.” 2013. Thesis, Universidade do Rio Grande do Norte. Accessed January 22, 2021.
http://repositorio.ufrn.br/handle/123456789/15220.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Sanca, Armando Sanca. “Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
.” 2013. Web. 22 Jan 2021.
Vancouver:
Sanca AS. Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
. [Internet] [Thesis]. Universidade do Rio Grande do Norte; 2013. [cited 2021 Jan 22].
Available from: http://repositorio.ufrn.br/handle/123456789/15220.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Sanca AS. Modelagem e controle de um microveículo aéreo: uma aplicação de estabilidade robusta com a técnica backstepping em uma estrutura hexarrotor
. [Thesis]. Universidade do Rio Grande do Norte; 2013. Available from: http://repositorio.ufrn.br/handle/123456789/15220
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
NSYSU
12.
Chiang, Yu-Chi.
Design of Adaptive Nonlinear Controllers with Perturbation Estimation for Perturbed Systems in Semi-strict Feedback Form.
Degree: PhD, Electrical Engineering, 2017, NSYSU
URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0609117-131921
► In this dissertation three robust control strategies are proposed for nonlinear dynamic systems with matched and mismatched perturbations. Firstly, a new backstepping control scheme was…
(more)
▼ In this dissertation three robust control strategies are proposed for nonlinear dynamic systems with matched and mismatched perturbations.
Firstly, a new
backstepping control scheme was proposed so that it can be directly applied to systems with unknown multiple time-varying delays for solving regulation problems. The delay terms in the dynamic equations can be nonlinear state functions in non-strict feedback form and the upper bounds of the time delays as well as their derivatives need not to be known beforehand. By utilizing adaptive mechanisms and derivative estimation algorithm to estimate the perturbations in the designing of
backstepping controller, not only one can further alleviate the problem of ``explosion of complexity', i.e., reducing the number of time derivatives of virtual inputs that the designers have to compute in the design of the traditional
backstepping controller, but also the designers do not need to know the upper bounds of perturbations as well as perturbation estimation errors in advance. Furthermore, the property of asymptotic stability is guaranteed.
Secondly, a nonsingular terminal adaptive
backstepping control with perturbation estimation scheme was designed for a class of multi-input systems with matched and mismatched perturbations to solve regulation problems. The main advantage of this control scheme is that, without knowing the upper bounds of perturbations, the controlled system is still capable of suppressing the perturbations so that the controlled states are able to reach zero within a finite time. Another advantage is that there is no singular problem at all.
Thirdly, an adaptive terminal output feedback variable structure control (OFVSC) scheme was developed for a class of multi-input multi-output (MIMO) nonlinear systems with matched and mismatched perturbations. A perturbation estimation algorithm is utilized in designing the presented control scheme in order to overcome the problem of unmeasurable states. The resultant control system is capable of driving all the states into zero within a finite time and guaranteeing global stability. Several numerical examples and practical applications are demonstrated for showing the feasibility of the proposed control methodologies.
Advisors/Committee Members: Yon-Ping Chen (chair), Kuo-Kai Shyu (chair), Jeang-Lin Chang (chair), Yon-Ping Chen (chair), Yeong-Jeu Sun (chair), Chih-Chiang Cheng (committee member).
Subjects/Keywords: Adaptive control; Lyapunov stability theorem; Perturbation estimation; Semi-strict feedback form; Terminal backstepping control; Backstepping control; Output feedback variable structure control
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Chiang, Y. (2017). Design of Adaptive Nonlinear Controllers with Perturbation Estimation for Perturbed Systems in Semi-strict Feedback Form. (Doctoral Dissertation). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0609117-131921
Chicago Manual of Style (16th Edition):
Chiang, Yu-Chi. “Design of Adaptive Nonlinear Controllers with Perturbation Estimation for Perturbed Systems in Semi-strict Feedback Form.” 2017. Doctoral Dissertation, NSYSU. Accessed January 22, 2021.
http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0609117-131921.
MLA Handbook (7th Edition):
Chiang, Yu-Chi. “Design of Adaptive Nonlinear Controllers with Perturbation Estimation for Perturbed Systems in Semi-strict Feedback Form.” 2017. Web. 22 Jan 2021.
Vancouver:
Chiang Y. Design of Adaptive Nonlinear Controllers with Perturbation Estimation for Perturbed Systems in Semi-strict Feedback Form. [Internet] [Doctoral dissertation]. NSYSU; 2017. [cited 2021 Jan 22].
Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0609117-131921.
Council of Science Editors:
Chiang Y. Design of Adaptive Nonlinear Controllers with Perturbation Estimation for Perturbed Systems in Semi-strict Feedback Form. [Doctoral Dissertation]. NSYSU; 2017. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0609117-131921
13.
Duraffourg, Elodie.
Commande non linéaire en présence de modes souples, applications aérospatiales : Nonlinear control with flexible modes, aerospace applications.
Degree: Docteur es, Automatique, 2014, Toulouse, ISAE
URL: http://www.theses.fr/2014ESAE0048
► En aérospatial, les contraintes de masse ont conduit à utiliser des structures plus légères et par conséquent plus souples, induisant de nouveaux objectifs de commande,…
(more)
▼ En aérospatial, les contraintes de masse ont conduit à utiliser des structures plus légères et par conséquent plus souples, induisant de nouveaux objectifs de commande, comme la réduction des efforts structuraux. Pour satisfaire ces objectifs, les modes de flexion doivent être considérés dès la synthèse de la loi de commande, ce qui entraîne certaines contraintes comme les non linéarités, le sous actionnement et l’altération des mesures par les modes souples. En considérant ces contraintes, cette thèse traite de la synthèse d’une méthode de commande non linéaire pour les systèmes aérospatiaux souples. Nous nous intéressons particulièrement au problème d’atténuation des oscillations provoquées par les modes souples. Pour cela, nous définissons une classe de système non linéaire, sous actionnée et à minimum de phase, représentative des systèmes aérospatiaux souples. Pour cette classe de système, nous proposons une loi de commande non linéaire synthétisée par retour d’état en utilisant des changements de variables et la technique du backstepping. La synthèse est effectuée de façon à améliorer le régime transitoire des modes souples. Les états souples n’étant pas mesurés, le problème du retour de sortie est également traité par l’intermédiaire d’observateurs adaptatifs (à temps fini et asymptotique). Des incertitudes sur la pulsation et l’amortissement des modes souples sont en particulier considérées. La méthode proposée est illustrée par des simulations numériques réalisées sur un lanceur et un avion hypersonique.
Due to mass constraints aerospace systems tend to have lightweight and flexible structures leading to new control objectives such as structural load reduction. To fulfil these objectives, flexible modes must be considered from the design of the controller, requiring to consider some constraints such as nonlinearities, underactuation, or measurement corruption terms. Consider these constraints, this thesis treats the design of a nonlinear control method for flexible aerospace systems. We particularly focus on the problem of reducing oscillations caused by the bending modes. To do that, we define a class of nonlinear system which is both underactuated and minimum phase and that represents flexible aerospace systems. Consider this class, we propose a nonlinear full-state controller based on changes of coordinates and the backstepping technique. The control design is carried out to enhance the transient of the flexible modes. Flexiblestates being not measured, the output-feedback problem is also treated through adaptive observers (finite-time and asymptotic). Uncertainties of natural damping and frequency of the bending modes are particularly considered. The proposed method is illustrated by numerical simulations performed on a space launch vehicle and an hypersonic aircraft.
Advisors/Committee Members: Ahmed-Ali, Tarek (thesis director), Burlion, Laurent (thesis director).
Subjects/Keywords: Commande non linéaire; Backstepping; Modes souples; Observateurs; Sous actionnement; Amortissement; Aérospatial; Nonlinear control; Backstepping; Bending modes; Observers; Underactuation; Damping; Aerospace; 629.8
Record Details
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Record Details
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❌
APA ·
Chicago ·
MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Duraffourg, E. (2014). Commande non linéaire en présence de modes souples, applications aérospatiales : Nonlinear control with flexible modes, aerospace applications. (Doctoral Dissertation). Toulouse, ISAE. Retrieved from http://www.theses.fr/2014ESAE0048
Chicago Manual of Style (16th Edition):
Duraffourg, Elodie. “Commande non linéaire en présence de modes souples, applications aérospatiales : Nonlinear control with flexible modes, aerospace applications.” 2014. Doctoral Dissertation, Toulouse, ISAE. Accessed January 22, 2021.
http://www.theses.fr/2014ESAE0048.
MLA Handbook (7th Edition):
Duraffourg, Elodie. “Commande non linéaire en présence de modes souples, applications aérospatiales : Nonlinear control with flexible modes, aerospace applications.” 2014. Web. 22 Jan 2021.
Vancouver:
Duraffourg E. Commande non linéaire en présence de modes souples, applications aérospatiales : Nonlinear control with flexible modes, aerospace applications. [Internet] [Doctoral dissertation]. Toulouse, ISAE; 2014. [cited 2021 Jan 22].
Available from: http://www.theses.fr/2014ESAE0048.
Council of Science Editors:
Duraffourg E. Commande non linéaire en présence de modes souples, applications aérospatiales : Nonlinear control with flexible modes, aerospace applications. [Doctoral Dissertation]. Toulouse, ISAE; 2014. Available from: http://www.theses.fr/2014ESAE0048
14.
Senac, Thibault.
PériSIM : un simulateur haptique d'apprentissage du geste de l'anesthésie péridurale : PériSIM : an haptic simulator to learn the epidural anaesthesia procedure.
Degree: Docteur es, Robotique, 2019, Lyon
URL: http://www.theses.fr/2019LYSEC032
► L’anesthésie péridurale est un geste médical commun consistant à réaliser une anesthésie locale du bas du corps. Généralement pratiqué lors d’accouchements afin de limiter les…
(more)
▼ L’anesthésie péridurale est un geste médical commun consistant à réaliser une anesthésie locale du bas du corps. Généralement pratiqué lors d’accouchements afin de limiter les douleurs de la future maman, le geste reste relativement simple mais requiert un long entraînement afin d’être suffisamment maîtrisé. Les moyens de formations actuels tels que des mannequins ne permettant pas de proposer un apprentissage suffisant, la plupart du temps la première péridurale est réalisée directement sur le patient. Cela augmente les risques de réaliser une mauvaise anesthésie mais aussi le stress des médecins novices. Cette thèse propose un simulateur haptique utilisant une interface haptique électrique couplée à un vérin pneumatique afin de proposer une simulation complète et réaliste de la procédure. Les travaux proposent une commande de vérin pneumatique visant à simuler le comportement d’une seringue. Le contrôle du vérin pneumatique est réalisée à l'aide d'une servovalve par une approche par backstepping et permet d'accroître grandement le réalisme de la simulation. Le contrôle de l’interface haptique électrique a, lui, pour but de représenter l’insertion d’une aiguille dans le dos d’un patient. L’ensemble vise à mettre à disposition une simulation étoffée et réaliste de différents types de patients. Les travaux de thèses ont donc pu aboutir à la présentation d'un simulateur complet dédié à la simulation du geste de l'anesthésie péridurale. Le simulateur développé a pu être testé au cours d'une campagne de mesure auprès de médecins novices et expérimentés. Cette campagne a permis de récolter suffisamment de données pour entreprendre le développement d'une méthode d’évaluation du geste.
The epidural anesthesia is a common medical gesture that consists in a local anesthesia of the lower part of the body. It is usually performed at childbirth to relieve the future mother from birthing pain. Although the gesture itself is simple, it requires a long training to be mastered by anyone. Current training tools however do not provide sufficient training quality, and most of the time the first epidural anesthesia is performed directly on a patient. This, not only increase the risk of an error happening during the procedure but it also increases the level of stress for the novices.This thesis propose a haptic simulator composed of an electrical haptic interface coupled with a pneumatic cylinder to create a complete a realistic simulation of the procedure. In this work, we propose control laws to use a pneumatic cylinder as a syringe emulator. The control of the cylinder is achieved using a servovalve and a backstepping approach to greatly increase the realism of the simulation. The electrical haptic interface is used to reproduce a needle insertion through tissues in the back of a patient. The overall objective is to put together a complete a realistic simulation of different patient types. This project has lead to the development of a complete haptic simulator dedicated to reproduce the epidural anesthesia gesture. The simulator…
Advisors/Committee Members: Krähenbühl, Laurent (thesis director), Lelevé, Arnaud (thesis director), Moreau, Richard (thesis director).
Subjects/Keywords: Simulateur; Haptique; Robotique; Automatique; Évaluation du geste; Backstepping; Anesthésie Péridurale; Simulator; Haptics; Robotics; Control; Gesture evaluation; Backstepping; Epidural Anaesthesia
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APA (6th Edition):
Senac, T. (2019). PériSIM : un simulateur haptique d'apprentissage du geste de l'anesthésie péridurale : PériSIM : an haptic simulator to learn the epidural anaesthesia procedure. (Doctoral Dissertation). Lyon. Retrieved from http://www.theses.fr/2019LYSEC032
Chicago Manual of Style (16th Edition):
Senac, Thibault. “PériSIM : un simulateur haptique d'apprentissage du geste de l'anesthésie péridurale : PériSIM : an haptic simulator to learn the epidural anaesthesia procedure.” 2019. Doctoral Dissertation, Lyon. Accessed January 22, 2021.
http://www.theses.fr/2019LYSEC032.
MLA Handbook (7th Edition):
Senac, Thibault. “PériSIM : un simulateur haptique d'apprentissage du geste de l'anesthésie péridurale : PériSIM : an haptic simulator to learn the epidural anaesthesia procedure.” 2019. Web. 22 Jan 2021.
Vancouver:
Senac T. PériSIM : un simulateur haptique d'apprentissage du geste de l'anesthésie péridurale : PériSIM : an haptic simulator to learn the epidural anaesthesia procedure. [Internet] [Doctoral dissertation]. Lyon; 2019. [cited 2021 Jan 22].
Available from: http://www.theses.fr/2019LYSEC032.
Council of Science Editors:
Senac T. PériSIM : un simulateur haptique d'apprentissage du geste de l'anesthésie péridurale : PériSIM : an haptic simulator to learn the epidural anaesthesia procedure. [Doctoral Dissertation]. Lyon; 2019. Available from: http://www.theses.fr/2019LYSEC032
Delft University of Technology
15.
Acquatella, B.P.J. (author).
Robust Nonlinear Spacecraft Attitude Control: An Incremental Backstepping Approach.
Degree: 2011, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:a56090a3-bbce-404b-8e4b-d0e9050b518a
► In order to meet requirements in terms of robustness, stability, and performance for future generations of advanced attitude control systems, a sensor-based approach using Incremental…
(more)
▼ In order to meet requirements in terms of robustness, stability, and performance for future generations of advanced attitude control systems, a sensor-based approach using Incremental Backstepping control is developed and proposed in this thesis. Assuming full state availability and fast control action, the resulting time-scale separation between the state of the system and the state of the controller allows to consider an incremental form of the attitude dynamics, where backstepping controllers can be designed to achieve stability and convergence with incremental inputs. This results in integral-control action where information of angular acceleration and actuator output measurements is required. The robustness and the full potential of Incremental Backstepping are evidenced in face of external disturbances, uncertainties, and unknown parameters. External disturbances are well suppressed in contrast with conventional backstepping and Lyapunov-based (non)linear controllers. Furthermore, the attitude stabilization results to be insensitive to parametric uncertainties and robust against model uncertainties. However, this comes at the expense of higher control effort. Moreover, with the influence of model and parametric uncertainties the resulting closed-loop dynamic performance can be better accounted for by studying the convergence and stability properties in terms of Lyapunov theory. This methodology results in a simple, yet effective, family of robust nonlinear attitude controllers which aims to meet demanding requirements in terms of robustness, stability and performance, which in turn, close the gap towards the development of future advanced attitude control systems.
Dynamics and Control of Aerospace Vehicles
Control and Operations (C&O) - Control and Simulation Division (C&S)
Aerospace Engineering
Advisors/Committee Members: Chu, Q.P. (mentor), Falkena, W. (mentor), Van Kampen, E. (mentor).
Subjects/Keywords: Spacecraft Attitude Control; Nonlinear Control; Backstepping; Incremental Backstepping; Incremental Nonlinear Dynamic Inversion; Lyapunov-based control; Modified Rodrigues Parameters
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APA (6th Edition):
Acquatella, B. P. J. (. (2011). Robust Nonlinear Spacecraft Attitude Control: An Incremental Backstepping Approach. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:a56090a3-bbce-404b-8e4b-d0e9050b518a
Chicago Manual of Style (16th Edition):
Acquatella, B P J (author). “Robust Nonlinear Spacecraft Attitude Control: An Incremental Backstepping Approach.” 2011. Masters Thesis, Delft University of Technology. Accessed January 22, 2021.
http://resolver.tudelft.nl/uuid:a56090a3-bbce-404b-8e4b-d0e9050b518a.
MLA Handbook (7th Edition):
Acquatella, B P J (author). “Robust Nonlinear Spacecraft Attitude Control: An Incremental Backstepping Approach.” 2011. Web. 22 Jan 2021.
Vancouver:
Acquatella BPJ(. Robust Nonlinear Spacecraft Attitude Control: An Incremental Backstepping Approach. [Internet] [Masters thesis]. Delft University of Technology; 2011. [cited 2021 Jan 22].
Available from: http://resolver.tudelft.nl/uuid:a56090a3-bbce-404b-8e4b-d0e9050b518a.
Council of Science Editors:
Acquatella BPJ(. Robust Nonlinear Spacecraft Attitude Control: An Incremental Backstepping Approach. [Masters Thesis]. Delft University of Technology; 2011. Available from: http://resolver.tudelft.nl/uuid:a56090a3-bbce-404b-8e4b-d0e9050b518a
16.
Auriol, Jean.
Contrôle robuste d'EDPs linéaires hyperboliques par méthodes de backstepping : Robust design of backstepping controllers for systems of linearhyperbolic PDEs.
Degree: Docteur es, Mathématique et automatique, 2018, Paris Sciences et Lettres (ComUE)
URL: http://www.theses.fr/2018PSLEM011
► Les systèmes d'Equations aux Dérivées Partielles Hyperboliques Linéaires du Premier Ordre (EDPs HLPO) permettent de modéliser de nombreux systèmes de lois de conservation. Ils apparaissent,…
(more)
▼ Les systèmes d'Equations aux Dérivées Partielles Hyperboliques Linéaires du Premier Ordre (EDPs HLPO) permettent de modéliser de nombreux systèmes de lois de conservation. Ils apparaissent, par exemple, lors de la modélisation de problèmes de trafic routier, d'échangeurs de chaleurs, ou de problèmes multiphasiques. Différentes approches ont été proposées pour stabiliser ou observer de tels systèmes. Parmi elles, la méthode de backstepping consiste à transformer le système originel en un système découplé pour lequel la synthèse de la loi de commande est plus simple. Les contrôleur obtenus par cette méthode sont explicites.Dans la première partie de cette thèse, nous présentons des résultats généraux de théorie des systèmes. Plus précisément, nous résolvons les problèmes de stabilisation en temps fini pour une classe générale d'EDPs HLPO. Le temps de convergence minimal atteignable dépend du nombre d'actionneurs disponibles. Les observateurs associés à ces contrôleurs (nécessaires pour envisager une utilisation industrielle de tels contrôleurs) sont obtenus via une approche duale. Un des avantages importants de l'approche considérée dans cette thèse est de montrer que l'espace généré par les solutions de l'EDPs HLPO considérée est isomorphe à l'espace généré par les solutions d'une système neutre à retards distribués.Dans la seconde partie de cette thèse, nous montrons la nécessité d'un changement de stratégie pour résoudre les problèmes de contrôle robuste. Ces questions surviennent nécessairement lorsque sont considérées des applications industrielles pour lesquelles les différents paramètres du système peuvent être mal connus, pour lesquelles des dynamiques peuvent avoir été négligées, de même que des retards agissant sur la commande ou sur la mesure, ou encore pour lesquels les mesures sont bruitées. Nous proposons ainsi quelques modifications sur les lois de commande précédemment développées en y incorporant plusieurs degrés de liberté permettant d'effectuer un compromis entre performance et robustesse. L'analyse de stabilité et de robustesse sous-jacente est rendue possible en utilisant l'isomorphisme précédemment introduit.
Linear First-Order Hyperbolic Partial Differential Equations (LFOH PDEs) represent systems of conservation and balance law and are predominant in modeling of traffic flow, heat exchanger, open channel flow or multiphase flow. Different control approaches have been tackled for the stabilization or observation of such systems. Among them, the backstepping method consists to map the original system to a simpler system for which the control design is easier. The resulting controllers are explicit.In the first part of this thesis, we develop some general results in control theory. More precisely, we solve the problem of finite-time stabilization of a general class of LFOH PDEs using the backstepping methodology. The minimum stabilization time reachable may change depending on the number of available actuators. The corresponding boundary observers (crucial to envision industrial applications)…
Advisors/Committee Members: Petit, Nicolas (thesis director), Di Meglio, Florent (thesis director).
Subjects/Keywords: Edps hyperboliques; Contrôlabilité; Observabilité; Backstepping; Systèmes neutres; Robustesse; Retards distribués; Hyperbolic PDEs; Controllability; Observability; Backstepping; Neutral systems; Robustness; Distributed delays; 510
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APA ·
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APA (6th Edition):
Auriol, J. (2018). Contrôle robuste d'EDPs linéaires hyperboliques par méthodes de backstepping : Robust design of backstepping controllers for systems of linearhyperbolic PDEs. (Doctoral Dissertation). Paris Sciences et Lettres (ComUE). Retrieved from http://www.theses.fr/2018PSLEM011
Chicago Manual of Style (16th Edition):
Auriol, Jean. “Contrôle robuste d'EDPs linéaires hyperboliques par méthodes de backstepping : Robust design of backstepping controllers for systems of linearhyperbolic PDEs.” 2018. Doctoral Dissertation, Paris Sciences et Lettres (ComUE). Accessed January 22, 2021.
http://www.theses.fr/2018PSLEM011.
MLA Handbook (7th Edition):
Auriol, Jean. “Contrôle robuste d'EDPs linéaires hyperboliques par méthodes de backstepping : Robust design of backstepping controllers for systems of linearhyperbolic PDEs.” 2018. Web. 22 Jan 2021.
Vancouver:
Auriol J. Contrôle robuste d'EDPs linéaires hyperboliques par méthodes de backstepping : Robust design of backstepping controllers for systems of linearhyperbolic PDEs. [Internet] [Doctoral dissertation]. Paris Sciences et Lettres (ComUE); 2018. [cited 2021 Jan 22].
Available from: http://www.theses.fr/2018PSLEM011.
Council of Science Editors:
Auriol J. Contrôle robuste d'EDPs linéaires hyperboliques par méthodes de backstepping : Robust design of backstepping controllers for systems of linearhyperbolic PDEs. [Doctoral Dissertation]. Paris Sciences et Lettres (ComUE); 2018. Available from: http://www.theses.fr/2018PSLEM011
University of Alberta
17.
Alavi Shoushtari, Navid.
Modern Control Methods for First Order Hyperbolic Partial
Differential Equations.
Degree: MS, Department of Chemical and Materials
Engineering, 2016, University of Alberta
URL: https://era.library.ualberta.ca/files/cr207tp57n
► This work is focused on two control methods for first order hyperbolic partial differential equations (PDE). The first method investigated is output regulation by employing…
(more)
▼ This work is focused on two control methods for first
order hyperbolic partial differential equations (PDE). The first
method investigated is output regulation by employing the internal
model control (IMC) principle where the controller generates the
internal dynamic of the exosystem in order to asymptotically track
the trajectory and reject the disturbances. This method is
implemented on both systems with in-domain and boundary actuation.
The actuator is distributed throughout the system in the first
approach, while it is limited at the boundary in the second one.
The second method revolves around designing full state feedback
controller using so-called backstepping method. Backstepping
converts the unstable system to a stable target plant by an
integral transformation. This method is assessed for a general
first order hyperbolic PDE. Finally, the backstepping method is
expanded to a special case in which the boundaries are coupled.
This case represents tubular reactors with recycle and exhibits
interesting response under controller implementation. Results show
that both methods are able to successfully stabilize first order
hyperbolic PDEs at the origin. Results are illustrated with
simulations.
Subjects/Keywords: Backstepping; Output Regulation; First Order Hyperbolic; Partial Differential Equation
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APA (6th Edition):
Alavi Shoushtari, N. (2016). Modern Control Methods for First Order Hyperbolic Partial
Differential Equations. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/cr207tp57n
Chicago Manual of Style (16th Edition):
Alavi Shoushtari, Navid. “Modern Control Methods for First Order Hyperbolic Partial
Differential Equations.” 2016. Masters Thesis, University of Alberta. Accessed January 22, 2021.
https://era.library.ualberta.ca/files/cr207tp57n.
MLA Handbook (7th Edition):
Alavi Shoushtari, Navid. “Modern Control Methods for First Order Hyperbolic Partial
Differential Equations.” 2016. Web. 22 Jan 2021.
Vancouver:
Alavi Shoushtari N. Modern Control Methods for First Order Hyperbolic Partial
Differential Equations. [Internet] [Masters thesis]. University of Alberta; 2016. [cited 2021 Jan 22].
Available from: https://era.library.ualberta.ca/files/cr207tp57n.
Council of Science Editors:
Alavi Shoushtari N. Modern Control Methods for First Order Hyperbolic Partial
Differential Equations. [Masters Thesis]. University of Alberta; 2016. Available from: https://era.library.ualberta.ca/files/cr207tp57n
18.
Dépature, Clément.
Commandes par inversion d’un véhicule à pile à combustible et supercondensateurs : Inversion based controls of a fuel cell and supercapacitors vehicle.
Degree: Docteur es, Génie électrique, 2017, Université Lille I – Sciences et Technologies
URL: http://www.theses.fr/2017LIL10039
► Le développement de la commande d’un véhicule à pile à combustible et supercondensateurs doit prendre en compte les contraintes liées à l’association de ses composants.…
(more)
▼ Le développement de la commande d’un véhicule à pile à combustible et supercondensateurs doit prendre en compte les contraintes liées à l’association de ses composants. La commande par inversion apporte une solution. Elle utilise une approche systémique et cognitive afin d’identifier la cause qui produit l’effet désiré et inverse les modèles des éléments associés pour obtenir une structure de commande. Ainsi, les commandes déduites de la Représentation Energétique Macroscopique (REM) et du Backstepping font partie de la catégorie des commandes par inversion. Le Backstepping déduit une commande stable de la plupart des systèmes non-linéaires. Cependant, il ne permet pas de gérer de façon claire et efficace les couplages énergétiques. Il est alors possible de décomposer physiquement le système suivant les règles de la REM. La REM permet également de séparer explicitement la commande et la stratégie de gestion de l’énergie. Dans cette thèse en cotutelle franco-québécoise, les caractéristiques des deux commandes ont été soulignées. Les deux méthodes apparaissent alors complémentaires. L’intégration du Backstepping apporte à la REM l’assurance d’une stabilité intrinsèque. Les principes de la REM, quant à eux, permettent au Backstepping de gérer les couplages énergétiques. Le développement d’une commande par inversion stable d’un véhicule à pile à combustible et supercondensateurs est donc proposé par la combinaison de ces deux méthodes de commande, suivant une procédure d’inversion combinée. La répartition des puissances du véhicule est ainsi réalisée en temps réel, sur dispositif expérimental, suivant une stratégie de filtrage et la commande stable par inversion combinée développée.
The development of the control of a fuel cell/supercapacitor vehicle must take into account the constraints related to the associations of its components. Inversion based control can solve this problems. This use a systemic and cognitive approach to find the cause which produce the desired effect and inverse the associated component models to obtain a control structure. In this way, Energetic Macroscopic Representation (EMR) and Backstepping have inversion based control approach. The Backstepping method deduces stable control of most classes of nonlinear systems. However, it don’t effectively and simply manage the energetic couplings. A physical decomposition of the studied system following the EMR rules bring a solution. EMR enables a systematic deduction of control schemes, specifically a clear distinction between the local control and the energy management strategy level. In this franco-quebecer co-tutorial thesis, similarities between the both control methods has been shown. EMR and Backstepping can complement each other. The integration of the Backstepping bring intrinsic stability to the EMR. The Backstepping can manage the energetic couplings thanks to EMR. The development of a fuel cell/supercapacitor vehicle stable inversion based control is then proposed using the combination of the both control methods. Thus, the power…
Advisors/Committee Members: Bouscayrol, Alain (thesis director), Lhomme, Walter (thesis director), Boulon, Loïc (thesis director), Sicard, Pierre (thesis director).
Subjects/Keywords: Commande par inversion; Représentation énergétique macroscopique; Méthode du backstepping; 629.229 3
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APA ·
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APA (6th Edition):
Dépature, C. (2017). Commandes par inversion d’un véhicule à pile à combustible et supercondensateurs : Inversion based controls of a fuel cell and supercapacitors vehicle. (Doctoral Dissertation). Université Lille I – Sciences et Technologies. Retrieved from http://www.theses.fr/2017LIL10039
Chicago Manual of Style (16th Edition):
Dépature, Clément. “Commandes par inversion d’un véhicule à pile à combustible et supercondensateurs : Inversion based controls of a fuel cell and supercapacitors vehicle.” 2017. Doctoral Dissertation, Université Lille I – Sciences et Technologies. Accessed January 22, 2021.
http://www.theses.fr/2017LIL10039.
MLA Handbook (7th Edition):
Dépature, Clément. “Commandes par inversion d’un véhicule à pile à combustible et supercondensateurs : Inversion based controls of a fuel cell and supercapacitors vehicle.” 2017. Web. 22 Jan 2021.
Vancouver:
Dépature C. Commandes par inversion d’un véhicule à pile à combustible et supercondensateurs : Inversion based controls of a fuel cell and supercapacitors vehicle. [Internet] [Doctoral dissertation]. Université Lille I – Sciences et Technologies; 2017. [cited 2021 Jan 22].
Available from: http://www.theses.fr/2017LIL10039.
Council of Science Editors:
Dépature C. Commandes par inversion d’un véhicule à pile à combustible et supercondensateurs : Inversion based controls of a fuel cell and supercapacitors vehicle. [Doctoral Dissertation]. Université Lille I – Sciences et Technologies; 2017. Available from: http://www.theses.fr/2017LIL10039
NSYSU
19.
Chen, Liang-Ing.
Design of Adaptive Block Backstepping Tracking Controllers for Nonlinear Systems with Input Constraints.
Degree: Master, Electrical Engineering, 2018, NSYSU
URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0630118-161321
► Based on the Lyapunov stability theorem, a design methodology of adaptive block backstepping control with perturbation estimation scheme is proposed in this thesis for a…
(more)
▼ Based on the Lyapunov stability theorem, a design methodology of adaptive block
backstepping control with perturbation estimation scheme is proposed in this thesis for a class of a perturbed multi-input nonlinear systems with input constraints. The virtual inputs of each block of the plant to be controlled is firstly introduced, then followed by the design of control inputs. Perturbation estimator and adaptive mechanisms are employed in the proposed control scheme, so that not only the derivatives of virtual input functions do not need to be computed, but also the upper bounds of perturbations as well as perturbation estimation errors are not required to be known in advance. Furthermore, the resultant control scheme guarantees the stability of the whole controlled systems, and the tracking precision can be adjusted by tuning the design parameters. One numerical example and a practical application are illustrated for demonstrating the feasibility of the proposed control scheme.
Advisors/Committee Members: Shyh-Leh Chen (chair), Yeong-Jeu Sun (chair), Chih-Chiang Cheng (committee member).
Subjects/Keywords: adaptive backstepping control; input constraints; perturbation estimator; mismatched perturbations; virtual input
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APA ·
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APA (6th Edition):
Chen, L. (2018). Design of Adaptive Block Backstepping Tracking Controllers for Nonlinear Systems with Input Constraints. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0630118-161321
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Chen, Liang-Ing. “Design of Adaptive Block Backstepping Tracking Controllers for Nonlinear Systems with Input Constraints.” 2018. Thesis, NSYSU. Accessed January 22, 2021.
http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0630118-161321.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Chen, Liang-Ing. “Design of Adaptive Block Backstepping Tracking Controllers for Nonlinear Systems with Input Constraints.” 2018. Web. 22 Jan 2021.
Vancouver:
Chen L. Design of Adaptive Block Backstepping Tracking Controllers for Nonlinear Systems with Input Constraints. [Internet] [Thesis]. NSYSU; 2018. [cited 2021 Jan 22].
Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0630118-161321.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Chen L. Design of Adaptive Block Backstepping Tracking Controllers for Nonlinear Systems with Input Constraints. [Thesis]. NSYSU; 2018. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0630118-161321
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Delft University of Technology
20.
Arons, Mitchell (author).
Effect of Lead-Lag Dynamics on Command Filtered Incremental Adaptive Backstepping.
Degree: 2020, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:ec97f502-ca56-4e47-bdee-258ae4368630
► The main objective was to analyse the effects of rotor dynamics, and in particular lead-lag and flapping dynamics, on incremental backstepping (IBS). The main focus…
(more)
▼ The main objective was to analyse the effects of rotor dynamics, and in particular lead-lag and flapping dynamics, on incremental backstepping (IBS). The main focus in this research was on the angular rate controller of a rotorcraft, since it required an idealised rotorcraft model to establish the IBS controller. The idealised rotorcraft model is established by means of the method of residualised dynamics, which assumes steady-state condition of the rotor dynamics. The idealised rotorcraft model would assure that the time-scale separation (TSS) condition is not, or at least less-likely, violated. However, the use of an idealised rotorcraft model for establishing the IBS control law would require a countermeasure when there exists a significant difference between the idealised and actual rotorcraft model. The problem lies therein that actuator and angular acceleration measurements are required for the IBS control law of the angular rate subsystem, but do come from the idealised and actual rotorcraft model respectively. This causes synchronisation issues. Based on findings it can be stated, that accounting for flapping dynamics when establishing the idealised rotorcraft model, is a requisite. However, accounting for lead-lag dynamics when establishing the idealised rotorcraft model, can be considered redundant, as it does not yield a significant difference with respect to the idealised model based upon steady-state flapping dynamics. In other words, an idealised rotorcraft model based upon steady-state flap-lag dynamics is almost the same as an idealised rotorcraft model based upon steady-state flap dynamics wherein considering the natural modes of motion and open-loop frequency response. From this it followed that the controller is robust to uncertainties in lead-lag dynamics, because the IBS control law and synchronisation can be established without requiring any knowledge of lead-lag dynamics. This is however, in great contrast with flapping dynamics, because sufficient knowledge is required of flapping dynamics when establishing both synchronisation filter as well as the IBS control law. Especially the control effectiveness matrix in the synchronisation filter, must be well-known, otherwise performance can be significantly harmed. This shows that there is some lack in controller robustness, when establishing the IBS controller based upon an idealised rotorcraft model.
Aerospace Engineering
Advisors/Committee Members: Pavel, Marilena (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Incremental Backstepping; Controller Robustness; Controller Performance; Routh-Hurwitz Stability; Helicopter Control
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APA (6th Edition):
Arons, M. (. (2020). Effect of Lead-Lag Dynamics on Command Filtered Incremental Adaptive Backstepping. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:ec97f502-ca56-4e47-bdee-258ae4368630
Chicago Manual of Style (16th Edition):
Arons, Mitchell (author). “Effect of Lead-Lag Dynamics on Command Filtered Incremental Adaptive Backstepping.” 2020. Masters Thesis, Delft University of Technology. Accessed January 22, 2021.
http://resolver.tudelft.nl/uuid:ec97f502-ca56-4e47-bdee-258ae4368630.
MLA Handbook (7th Edition):
Arons, Mitchell (author). “Effect of Lead-Lag Dynamics on Command Filtered Incremental Adaptive Backstepping.” 2020. Web. 22 Jan 2021.
Vancouver:
Arons M(. Effect of Lead-Lag Dynamics on Command Filtered Incremental Adaptive Backstepping. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Jan 22].
Available from: http://resolver.tudelft.nl/uuid:ec97f502-ca56-4e47-bdee-258ae4368630.
Council of Science Editors:
Arons M(. Effect of Lead-Lag Dynamics on Command Filtered Incremental Adaptive Backstepping. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:ec97f502-ca56-4e47-bdee-258ae4368630
Brigham Young University
21.
Meier, Kevin Christopher.
Developing a Guidance Law for a Small-Scale Controllable Projectile Using Backstepping and Adaptive Control Techniques and a Hardware System Implementation for a UAV and a UGV to Track a Moving Ground Target.
Degree: MS, 2012, Brigham Young University
URL: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4377&context=etd
► The work in this thesis is on two topics. The first topic focuses on collaboration between a UAV and a UGV to track a moving…
(more)
▼ The work in this thesis is on two topics. The first topic focuses on collaboration between a UAV and a UGV to track a moving ground target. The second topic focuses on deriving a guidance law for a small-scale controllable projectile to be guided into a target. For the first topic, we implement a path planning algorithm in a hardware system for a UAV and UGV to track a ground target. The algorithm is designed for urban environments where it is common for objects to obstruct sensors located on the UAV and the UGV. During the hardware system's implementation, multiple problems prevented the hardware system from functioning properly. We will describe solutions to these problems. For the second topic, we develop a guidance law for a small-scale controllable projectile using Lyapunov analysis techniques. We implement a PID controller on the body-axes pitch rate and yaw rate of the projectile such that the behavior of the pitch rate and yaw rate can be approximated as a second order system. We derive inputs for the pitch rate and yaw rate using backstepping and adaptive control techniques. The guidance law we develop guarantees the rocket will point at its intended destination. Additionally, we present expressions for the kinematics and dynamics of the rocket's motion and define the forces and moments that act on the rocket's body.
Subjects/Keywords: adaptive control; backstepping; projectile guidance; path planning; Electrical and Computer Engineering
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APA (6th Edition):
Meier, K. C. (2012). Developing a Guidance Law for a Small-Scale Controllable Projectile Using Backstepping and Adaptive Control Techniques and a Hardware System Implementation for a UAV and a UGV to Track a Moving Ground Target. (Masters Thesis). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4377&context=etd
Chicago Manual of Style (16th Edition):
Meier, Kevin Christopher. “Developing a Guidance Law for a Small-Scale Controllable Projectile Using Backstepping and Adaptive Control Techniques and a Hardware System Implementation for a UAV and a UGV to Track a Moving Ground Target.” 2012. Masters Thesis, Brigham Young University. Accessed January 22, 2021.
https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4377&context=etd.
MLA Handbook (7th Edition):
Meier, Kevin Christopher. “Developing a Guidance Law for a Small-Scale Controllable Projectile Using Backstepping and Adaptive Control Techniques and a Hardware System Implementation for a UAV and a UGV to Track a Moving Ground Target.” 2012. Web. 22 Jan 2021.
Vancouver:
Meier KC. Developing a Guidance Law for a Small-Scale Controllable Projectile Using Backstepping and Adaptive Control Techniques and a Hardware System Implementation for a UAV and a UGV to Track a Moving Ground Target. [Internet] [Masters thesis]. Brigham Young University; 2012. [cited 2021 Jan 22].
Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4377&context=etd.
Council of Science Editors:
Meier KC. Developing a Guidance Law for a Small-Scale Controllable Projectile Using Backstepping and Adaptive Control Techniques and a Hardware System Implementation for a UAV and a UGV to Track a Moving Ground Target. [Masters Thesis]. Brigham Young University; 2012. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4377&context=etd
University of Southern California
22.
Jung, Byungchan.
Control of two-wheel mobile platform with application to
power wheelchairs.
Degree: PhD, Mechanical Engineering, 2012, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/48737/rec/1642
► Modeling of two-wheel mobile platform, backstepping based controller design and hardware/software implementation are presented. ❧ Models with non-slipping and slipping are investigated. In the non-slipping…
(more)
▼ Modeling of two-wheel mobile platform,
backstepping
based controller design and hardware/software implementation are
presented. ❧ Models with non-slipping and slipping are
investigated. In the non-slipping case, nonholonomic constraints
(no lateral motion and pure rolling) are embedded into the
equations of motion. In addition to nonholonomic constraint, Lugre
friction model is adopted to represent dynamic friction. ❧ Two
backstepping based tracking controllers are developed for
non-slipping dynamic model. Regular
backstepping controller and
backstepping controller combined with robust term to deal with
varying parameters are designed. Lyapunov’s stability theory is
used to verify the stability of designed controller. ❧ For slipping
case,
backstepping based controller and sliding mode combined
backstepping controller are developed. Stability of both
controllers are verified by Lyapunov’s stability theory. In
addition to tracking capability, point stabilization is achieved in
specific destination postures. Extensive simulation and
visualization shows effectiveness of proposed controllers. ❧ Bezier
curve combined with cubic spline velocity profile is considered for
trajectory generation. Numerical integration approach for arc
length parameterization is adopted to control segment length in
Bezier curve. Curvature is also included into trajectory generation
to adjust acceleration and deceleration for riding comfort and
safety. ❧ Mobile platform based on commercial power wheelchair is
implemented. Hardware components (Real-time controllers, Sensors,
Power modules, Network devices) and software components (MATALB,
SIMULINK, LabVIEW) are integrated and functions such as remote
control, monitoring in the host PC are developed. Proposed
controllers are implemented on the real-time controller and
extensive test was conducted.
Advisors/Committee Members: Flashner, Henryk (Committee Chair), Shiflett, Geoffrey R. (Committee Member), Yang, Bingen (Ben) (Committee Member), McNitt-Gray, Jill L. (Committee Member).
Subjects/Keywords: two-wheel mobile platform; dynamic friction; backstepping; sliding mode; xpc target
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APA (6th Edition):
Jung, B. (2012). Control of two-wheel mobile platform with application to
power wheelchairs. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/48737/rec/1642
Chicago Manual of Style (16th Edition):
Jung, Byungchan. “Control of two-wheel mobile platform with application to
power wheelchairs.” 2012. Doctoral Dissertation, University of Southern California. Accessed January 22, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/48737/rec/1642.
MLA Handbook (7th Edition):
Jung, Byungchan. “Control of two-wheel mobile platform with application to
power wheelchairs.” 2012. Web. 22 Jan 2021.
Vancouver:
Jung B. Control of two-wheel mobile platform with application to
power wheelchairs. [Internet] [Doctoral dissertation]. University of Southern California; 2012. [cited 2021 Jan 22].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/48737/rec/1642.
Council of Science Editors:
Jung B. Control of two-wheel mobile platform with application to
power wheelchairs. [Doctoral Dissertation]. University of Southern California; 2012. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/48737/rec/1642
Louisiana State University
23.
Weston, Jerome Avery.
Backstepping and Sequential Predictors for Control Systems.
Degree: PhD, Control Theory, 2018, Louisiana State University
URL: https://digitalcommons.lsu.edu/gradschool_dissertations/4640
► We provide new methods in mathematical control theory for two significant classes of control systems with time delays, based on backstepping and sequential prediction.…
(more)
▼ We provide new methods in mathematical control theory for two significant classes of control systems with time delays, based on backstepping and sequential prediction. Our bounded backstepping results ensure global asymptotic stability for partially linear systems with an arbitrarily large number of integrators. We also build sequential predictors for time-varying linear systems with time-varying delays in the control, sampling in the control, and time-varying measurement delays. Our bounded backstepping results are novel because of their use of converging-input-converging-state conditions, which make it possible to solve feedback stabilization problems under input delays and under boundedness conditions on the feedback control. Our sequential predictors work is novel in its ability to cover time-varying measurement delays and sampling which were beyond the scope of existing sequential predictor methods for time-varying linear systems, and in the fact that the feedback controls that we obtain from our sequential predictors do not contain any distributed terms.
Subjects/Keywords: backstepping; control systems; sequential predictors; dynamical systems; time-varying systems; sampling
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APA (6th Edition):
Weston, J. A. (2018). Backstepping and Sequential Predictors for Control Systems. (Doctoral Dissertation). Louisiana State University. Retrieved from https://digitalcommons.lsu.edu/gradschool_dissertations/4640
Chicago Manual of Style (16th Edition):
Weston, Jerome Avery. “Backstepping and Sequential Predictors for Control Systems.” 2018. Doctoral Dissertation, Louisiana State University. Accessed January 22, 2021.
https://digitalcommons.lsu.edu/gradschool_dissertations/4640.
MLA Handbook (7th Edition):
Weston, Jerome Avery. “Backstepping and Sequential Predictors for Control Systems.” 2018. Web. 22 Jan 2021.
Vancouver:
Weston JA. Backstepping and Sequential Predictors for Control Systems. [Internet] [Doctoral dissertation]. Louisiana State University; 2018. [cited 2021 Jan 22].
Available from: https://digitalcommons.lsu.edu/gradschool_dissertations/4640.
Council of Science Editors:
Weston JA. Backstepping and Sequential Predictors for Control Systems. [Doctoral Dissertation]. Louisiana State University; 2018. Available from: https://digitalcommons.lsu.edu/gradschool_dissertations/4640
Louisiana State University
24.
Motee, Nader.
Minimization of power losses in active magnetic bearing control.
Degree: MS, Mechanical Engineering, 2003, Louisiana State University
URL: etd-0405103-131627
;
https://digitalcommons.lsu.edu/gradschool_theses/339
► A solution to the problem of AMB control with reduced electrical power losses will be presented in this thesis. The proposed control solution will…
(more)
▼ A solution to the problem of AMB control with reduced electrical power losses will be presented in this thesis. The proposed control solution will be founded on the integrator backstepping technique, which decouples the rotor stabilization problem from the bias flux design problem. It further allows for the easy redesign of the control law to compensate for uncertainties in the AMB system. A class of nonlinear controllers will be developed that reduces the AMB power losses in comparison to standard fixed-bias controllers, while containing no control singularity. Control laws will be presented for the standard AMB operating mode where both electromagnets are active at all times, as well as for the “energy-saving” operating mode where only a single electromagnet is active at any given time. The main contribution of this work is the development of a smart bias flux, and function of the rotor position and velocity. General conditions motivated by physical and mathematical properties are developed for the functional form of the bias, ensuring the reduction of power losses and the avoidance control singularities without affecting the closed-loop system stability. Simulation results also illustrate the interesting role the smart bias plays in stabilizing the rotor. Note that while the power loss discussion in this thesis is focused on ohmic losses, the proposed control strategies also help reduce eddy current- and hysteresis-induced losses due to their proportionality to the magnetic flux.
Subjects/Keywords: nonlinear backstepping control; robust control
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Manager
APA (6th Edition):
Motee, N. (2003). Minimization of power losses in active magnetic bearing control. (Masters Thesis). Louisiana State University. Retrieved from etd-0405103-131627 ; https://digitalcommons.lsu.edu/gradschool_theses/339
Chicago Manual of Style (16th Edition):
Motee, Nader. “Minimization of power losses in active magnetic bearing control.” 2003. Masters Thesis, Louisiana State University. Accessed January 22, 2021.
etd-0405103-131627 ; https://digitalcommons.lsu.edu/gradschool_theses/339.
MLA Handbook (7th Edition):
Motee, Nader. “Minimization of power losses in active magnetic bearing control.” 2003. Web. 22 Jan 2021.
Vancouver:
Motee N. Minimization of power losses in active magnetic bearing control. [Internet] [Masters thesis]. Louisiana State University; 2003. [cited 2021 Jan 22].
Available from: etd-0405103-131627 ; https://digitalcommons.lsu.edu/gradschool_theses/339.
Council of Science Editors:
Motee N. Minimization of power losses in active magnetic bearing control. [Masters Thesis]. Louisiana State University; 2003. Available from: etd-0405103-131627 ; https://digitalcommons.lsu.edu/gradschool_theses/339
University of Guelph
25.
Xu, Zhe.
A Novel Tracking Control of Mobile Robots Based on Bioinspired Neural Dynamics and Unscented Kalman Filter.
Degree: Master of Applied Science, School of Engineering, 2019, University of Guelph
URL: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/17037
► Tracking control has been a vital research area for robotics. It is important to design robotic systems with smooth velocity commands and robustness to system…
(more)
▼ Tracking control has been a vital research area for robotics. It is important to design robotic systems with smooth velocity commands and robustness to system and measurement noises. This thesis presents a novel controller based on a bioinspired neural dynamic model and the unscented Kalman filter. Typical
backstepping techniques usually suffer from speed jumps, which may create discontinuities in the speed of robotic systems. This disadvantage of
backstepping techniques creates difficulties in applications to real robots. The bioinspired
backstepping controller is able to generate smooth velocity commands without any speed jumps. Additionally, in real world applications, the robotic system may operate in noisy environments or be equipped with imperfect sensors that result in inaccurate measurements due to the system and measurement noises. The unscented Kalman filter is capable of reducing the effects of these noises and providing accurate estimates. Therefore, the innovative contribution of this thesis is that the unscented Kalman filter is integrated with the bioinspired
backstepping control, minimizing the effects of the system and measurement noises to the mobile robot. Simulation experiments demonstrate the efficiency and effectiveness of the proposed bioinspired controller with unscented Kalman filter in removing speed jumps existed in conventional
backstepping controllers, and providing accurate state estimates of robotic systems.
Advisors/Committee Members: Yang, Simon (advisor).
Subjects/Keywords: Backstepping control; Bioinspired dynamics; Mobile robot; Unscented Kalman Filter; Tracking control
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APA (6th Edition):
Xu, Z. (2019). A Novel Tracking Control of Mobile Robots Based on Bioinspired Neural Dynamics and Unscented Kalman Filter. (Masters Thesis). University of Guelph. Retrieved from https://atrium.lib.uoguelph.ca/xmlui/handle/10214/17037
Chicago Manual of Style (16th Edition):
Xu, Zhe. “A Novel Tracking Control of Mobile Robots Based on Bioinspired Neural Dynamics and Unscented Kalman Filter.” 2019. Masters Thesis, University of Guelph. Accessed January 22, 2021.
https://atrium.lib.uoguelph.ca/xmlui/handle/10214/17037.
MLA Handbook (7th Edition):
Xu, Zhe. “A Novel Tracking Control of Mobile Robots Based on Bioinspired Neural Dynamics and Unscented Kalman Filter.” 2019. Web. 22 Jan 2021.
Vancouver:
Xu Z. A Novel Tracking Control of Mobile Robots Based on Bioinspired Neural Dynamics and Unscented Kalman Filter. [Internet] [Masters thesis]. University of Guelph; 2019. [cited 2021 Jan 22].
Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/17037.
Council of Science Editors:
Xu Z. A Novel Tracking Control of Mobile Robots Based on Bioinspired Neural Dynamics and Unscented Kalman Filter. [Masters Thesis]. University of Guelph; 2019. Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/17037
26.
Tran, Cuong hung.
Améliorations d’une chaîne de conversion de l’énergie solaire en électricité autonome en vue d’application dans les pays en voie de développement : Improvements in a solar energy conversion chain into electricity to stand-alone for application in developing countries.
Degree: Docteur es, ATS - Automatique et Traitement de Signal, 2019, Reims
URL: http://www.theses.fr/2019REIMS009
► Au Vietnam, plus d’un demi-million d’habitations n’ont pas d’accès à l’électricité. Elles se situent principalement dans des régions montagneuses ou sur des îles. Cependant, c’est…
(more)
▼ Au Vietnam, plus d’un demi-million d’habitations n’ont pas d’accès à l’électricité. Elles se situent principalement dans des régions montagneuses ou sur des îles. Cependant, c’est un pays qui possède un grand potentiel en énergies renouvelables. Dans ce contexte, l’alimentation en électricité pour les sites isolés est une solution prometteuse en termes économique et environnemental. L’énergie solaire est la plus adaptée à l’alimentation en électricité des villages en raison d’un ensoleillement important et d’une maintenance relativement facile. Dans les systèmes de conversion d’énergie utilisant des sources d’énergies renouvelables, on utilise généralement des convertisseurs statiques simples. En effet, si l’on prend un système photovoltaïque, la poursuite du point de puissance maximale (MPPT) se fait à l’aide d’un convertisseur « boost » ou « buck-boost ». Ainsi, en cas de défaillance, le système est mis hors service. L’objectif de cette thèse est d’apporter des améliorations au niveau d’un système photovoltaïque autonome pouvant être utilisé dans un site isolé. Ainsi nous avons développé un algorithme de recherche du point de puissance maximale (MPPT) utilisant des convertisseurs DC-DC à trois niveaux (CBTN) permettant d’extraire le maximum de puissance d’un générateur photovoltaïque quelles que soient les variations climatiques (température, ensoleillement) ou de la charge. L’architecture à base de panneaux solaires associé à un système de stockage a nécessité la mise en place d’un superviseur flou afin de maîtriser la gestion des flux. Enfin, nous avons proposé une méthode de détection de défauts afin de gérer efficacement les cas de défaillance d’un élément du convertisseur multiniveaux. En effet, en cas de défauts, on doit pouvoir passer en mode dégradé pour pouvoir assurer un service proche du comportement nominal ou au moins minimal en attendant une maintenance corrective.
In Vietnam, more than half a million people do not have access to electricity. They are mainly in mountainous regions or on islands. However, this country has great potential for renewable energy. In this context, these sources of energy can be regarded as promising solutions both economically and environmentally for supplying electrical power. Solar energy is the most suitable to supply villages with electricity because of the plentiful solar radiation and relatively easy maintenance of the structures. In energy conversion systems using renewable energy sources, simple static converters are generally used. Indeed, if we explore a photovoltaic system, the maximum power point tracking (MPPT) is done using a boost or buck-boost converter. Thus, in case of failure, the system is simply switched off. The aim of this thesis is to make improvements to an autonomous photovoltaic system that can be used in an isolated site. Therefore, an MPPT algorithm using three-level DC-DC converters is developed to extract the maximum power of a photovoltaic generator, whatever the climatic variations (temperature, sunlight) or charge. The system’s…
Advisors/Committee Members: Hamzaoui, Abdelaziz (thesis director).
Subjects/Keywords: Système photovoltaïque; Convertisseur Boost à trois niveaux; Backstepping; Mppt; Site isolé; Commande tolérante; Photovoltaic System; Converter Boost three level; Backstepping; Mppt; Stand alone; Fault tolerant control; 621.47
Record Details
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APA ·
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APA (6th Edition):
Tran, C. h. (2019). Améliorations d’une chaîne de conversion de l’énergie solaire en électricité autonome en vue d’application dans les pays en voie de développement : Improvements in a solar energy conversion chain into electricity to stand-alone for application in developing countries. (Doctoral Dissertation). Reims. Retrieved from http://www.theses.fr/2019REIMS009
Chicago Manual of Style (16th Edition):
Tran, Cuong hung. “Améliorations d’une chaîne de conversion de l’énergie solaire en électricité autonome en vue d’application dans les pays en voie de développement : Improvements in a solar energy conversion chain into electricity to stand-alone for application in developing countries.” 2019. Doctoral Dissertation, Reims. Accessed January 22, 2021.
http://www.theses.fr/2019REIMS009.
MLA Handbook (7th Edition):
Tran, Cuong hung. “Améliorations d’une chaîne de conversion de l’énergie solaire en électricité autonome en vue d’application dans les pays en voie de développement : Improvements in a solar energy conversion chain into electricity to stand-alone for application in developing countries.” 2019. Web. 22 Jan 2021.
Vancouver:
Tran Ch. Améliorations d’une chaîne de conversion de l’énergie solaire en électricité autonome en vue d’application dans les pays en voie de développement : Improvements in a solar energy conversion chain into electricity to stand-alone for application in developing countries. [Internet] [Doctoral dissertation]. Reims; 2019. [cited 2021 Jan 22].
Available from: http://www.theses.fr/2019REIMS009.
Council of Science Editors:
Tran Ch. Améliorations d’une chaîne de conversion de l’énergie solaire en électricité autonome en vue d’application dans les pays en voie de développement : Improvements in a solar energy conversion chain into electricity to stand-alone for application in developing countries. [Doctoral Dissertation]. Reims; 2019. Available from: http://www.theses.fr/2019REIMS009
27.
Martinc, Jurij.
Stabilizacija inverznega nihala z inercijskim kolesom.
Degree: 2016, Univerza v Mariboru
URL: https://dk.um.si/IzpisGradiva.php?id=64793
;
https://dk.um.si/Dokument.php?id=108663&dn=
;
https://plus.si.cobiss.net/opac7/bib/20345110?lang=sl
► V magistrskem delu je opisana izdelava inverznega nihala z inercijskim kolesom ter njegova stabilizacija. Opisano je konstruiranje mehanskega dela nihala s pomočjo programske opreme SolidWorks.…
(more)
▼ V magistrskem delu je opisana izdelava inverznega nihala z inercijskim kolesom ter njegova stabilizacija. Opisano je konstruiranje mehanskega dela nihala s pomočjo programske opreme SolidWorks. Podana je izpeljava matematičnega modela. Stabilizacija je izvedena z EC motorjem ter z regulatorjem, implementiranim na mikrokrmilniku STM32F4. Snovanje regulatorja je opravljeno s pomočjo programskega paketa MATLAB/Simulink. Za merjenje kota in kotne hitrosti sta uporabljena žiroskop ter pospeškometer. V magistrskem delu so predstavljene tudi eksperimentalne meritve regulacijskih odzivov.
In the master's thesis we have the description of making an inverted pendulum with inertial wheel and its stabilization. There is a description of constructing the mechanical part of the pendulum with the help of the software SolidWorks. The execution of the mathematical model is also presented. The stabilization is carried out with an EC motor and a controller, implemented on the microcontroller STM32F4. The design of the controller is done with the help of the program package MATLAB/Simulink. To measure the angle and angle velocity the gyroscope and accelerometer were used. In the thesis the experimental measures of the regulation reactions are also presented.
Advisors/Committee Members: Sarjaš, Andrej.
Subjects/Keywords: inverzno nihalo; modeliranje; PID regulator; prostor stanj; Backstepping; inverted pendulum; modeling; PID controller; state space; Backstepping; info:eu-repo/classification/udc/681.5:681.11.032(043.2)
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APA (6th Edition):
Martinc, J. (2016). Stabilizacija inverznega nihala z inercijskim kolesom. (Masters Thesis). Univerza v Mariboru. Retrieved from https://dk.um.si/IzpisGradiva.php?id=64793 ; https://dk.um.si/Dokument.php?id=108663&dn= ; https://plus.si.cobiss.net/opac7/bib/20345110?lang=sl
Chicago Manual of Style (16th Edition):
Martinc, Jurij. “Stabilizacija inverznega nihala z inercijskim kolesom.” 2016. Masters Thesis, Univerza v Mariboru. Accessed January 22, 2021.
https://dk.um.si/IzpisGradiva.php?id=64793 ; https://dk.um.si/Dokument.php?id=108663&dn= ; https://plus.si.cobiss.net/opac7/bib/20345110?lang=sl.
MLA Handbook (7th Edition):
Martinc, Jurij. “Stabilizacija inverznega nihala z inercijskim kolesom.” 2016. Web. 22 Jan 2021.
Vancouver:
Martinc J. Stabilizacija inverznega nihala z inercijskim kolesom. [Internet] [Masters thesis]. Univerza v Mariboru; 2016. [cited 2021 Jan 22].
Available from: https://dk.um.si/IzpisGradiva.php?id=64793 ; https://dk.um.si/Dokument.php?id=108663&dn= ; https://plus.si.cobiss.net/opac7/bib/20345110?lang=sl.
Council of Science Editors:
Martinc J. Stabilizacija inverznega nihala z inercijskim kolesom. [Masters Thesis]. Univerza v Mariboru; 2016. Available from: https://dk.um.si/IzpisGradiva.php?id=64793 ; https://dk.um.si/Dokument.php?id=108663&dn= ; https://plus.si.cobiss.net/opac7/bib/20345110?lang=sl
28.
Boršić, Marko.
Nonlinear control of a one-dimensional self-balancing system with an inertia wheel.
Degree: 2019, Univerza v Mariboru
URL: https://dk.um.si/IzpisGradiva.php?id=73260
;
https://dk.um.si/Dokument.php?id=133045&dn=
;
https://plus.si.cobiss.net/opac7/bib/22239254?lang=sl
► The master’s thesis describes the development of a one-dimensional self-balancing system with an inertia wheel. The plan was to establish all the theoretical knowledge that…
(more)
▼ The master’s thesis describes the development of a one-dimensional self-balancing system with an inertia wheel. The plan was to establish all the theoretical knowledge that was gathered throughout the process of studying at the University and to finish the practical model which has the ability to balance in one dimension. The paper contains a description of constructing the mechanical part of the pendulum, developed in SolidWorks software. It also contains the execution of the mathematical model of the inverted pendulum. The simulation was conducted in Matlab/Simulink software. Based on the results of the simulation, the design of the controller for the EC motor was made. Designed controllers and measured data required for the active balance of the system were implemented on the microcontroller STM32F4. To measure the angle and angle velocity, the gyroscope and accelerometer on the MPU6050 sensor were used. The results of the simulation and of the practical model are presented in this paper.
Cilj naloge je bil povezati in prikazati znanje pridobljeno v procesu študija ter ustvariti realni model sistema, ki omogoča balansiranje v eni dimenziji.
Diploma vsebuje opis celotnega sistema v katerem je predstavljen opis dela, izvedba kode v realnem času, omejitve sistema, meritve kota, filtriranje podatkov s Kalmanovim filtrom, kontrola motorja in povezava sistemskih komponent. Realni model inverznega nihala je zasnovan tako, da ga je mogoče stabilizirati z navorom ustvarjenim s spremembo vrtilne količine.Za načrtovanje regulatorjev je bilo potrebno izpeljati matematični model sistema. Na osnovi matematičnega modela smo načrtali tri tipe regulatorjev
linearni regulator v prostoru stanj, Backstepping regulator in Sliding Mode regulator. Vsak regulator smo simulirali in nato implementirali na realni model. Robustnost ter učinkovitost vodenja smo testirali z zunanjo motnjo, ki je nihalo premaknila iz ravnovesne lege. Velikost odklona s katerega se je inverzno nihalo uspelo vrniti v ravnovesje, je bilo odvisno od izbranega regulatorja.
Vsak načrtan in implementiran regulator je uspel stabilizirati sistem.
Advisors/Committee Members: Sarjaš, Andrej.
Subjects/Keywords: modeling; inertia wheel; backstepping; state space; sliding mode; inercijsko kolo; modeliranje; backstepping; sliding mode; prostor stanj; info:eu-repo/classification/udc/007.52(043.2)
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APA (6th Edition):
Boršić, M. (2019). Nonlinear control of a one-dimensional self-balancing system with an inertia wheel. (Masters Thesis). Univerza v Mariboru. Retrieved from https://dk.um.si/IzpisGradiva.php?id=73260 ; https://dk.um.si/Dokument.php?id=133045&dn= ; https://plus.si.cobiss.net/opac7/bib/22239254?lang=sl
Chicago Manual of Style (16th Edition):
Boršić, Marko. “Nonlinear control of a one-dimensional self-balancing system with an inertia wheel.” 2019. Masters Thesis, Univerza v Mariboru. Accessed January 22, 2021.
https://dk.um.si/IzpisGradiva.php?id=73260 ; https://dk.um.si/Dokument.php?id=133045&dn= ; https://plus.si.cobiss.net/opac7/bib/22239254?lang=sl.
MLA Handbook (7th Edition):
Boršić, Marko. “Nonlinear control of a one-dimensional self-balancing system with an inertia wheel.” 2019. Web. 22 Jan 2021.
Vancouver:
Boršić M. Nonlinear control of a one-dimensional self-balancing system with an inertia wheel. [Internet] [Masters thesis]. Univerza v Mariboru; 2019. [cited 2021 Jan 22].
Available from: https://dk.um.si/IzpisGradiva.php?id=73260 ; https://dk.um.si/Dokument.php?id=133045&dn= ; https://plus.si.cobiss.net/opac7/bib/22239254?lang=sl.
Council of Science Editors:
Boršić M. Nonlinear control of a one-dimensional self-balancing system with an inertia wheel. [Masters Thesis]. Univerza v Mariboru; 2019. Available from: https://dk.um.si/IzpisGradiva.php?id=73260 ; https://dk.um.si/Dokument.php?id=133045&dn= ; https://plus.si.cobiss.net/opac7/bib/22239254?lang=sl
Université de Sherbrooke
29.
Kandil, Mohamed Salah.
Sliding mode control of active magnetic bearings with low losses : a model-free approach: Commande par mode glissant de paliers magnétiques actifs économes en énergie : une approche sans modèle.
Degree: 2017, Université de Sherbrooke
URL: http://hdl.handle.net/11143/10166
► Résumé: Au cours des trois dernières décennies, divers domaines ont connu une application réussie des systèmes de paliers magnétiques actifs (PMA). Leurs caractéristiques favorables comprennent…
(more)
▼ Résumé: Au cours des trois dernières décennies, divers domaines ont connu une application réussie des systèmes de paliers magnétiques actifs (PMA). Leurs caractéristiques favorables comprennent une capacité de rotation à grande vitesse, une faible consommation d'énergie, et le contrôle de la dynamique du rotor. Bien que leurs pertes soient beaucoup plus basses que les roulements à rouleaux, ces pertes pourraient limiter l'opération dans certaines applications telles que les systèmes de stockage d'énergie à volant d'inertie et les applications sous vide. De nombreux chercheurs ont concentré leurs efforts sur le renforcement de l'efficacité énergétique des paliers magnétiques par la minimisation des courants fournis aux bobines électromagnétiques soit par une solution logicielle, soit par une solution matérielle. Selon une étude précédente, nous adoptons la solution matérielle dans cette thèse. Plus précisément, nous étudions le développement d'un système de contrôle efficace et simple pour réguler un système de palier magnétique actif à aimant permanent polarisé. L'objectif de contrôle ici est de supprimer les vibrations du rotor et de réduire les courants de commande correspondants autant que possible tout au long d'une large plage de fonctionnement. Bien que l'adoption de l'approche matérielle pourrait atteindre un PMA économe en énergie, un système de contrôle avancé pourrait parvenir à une réduction supplémentaire de la consommation d'énergie. De nombreuses techniques de contrôle avancées ont été proposées dans la littérature pour obtenir une performance satisfaisante. Cependant, la complexité de la majorité des systèmes de contrôle et l'exigence potentielle d’une plate-forme puissante pourrait décourager leur application dans la pratique. La motivation derrière ce travail est d'améliorer les performances en boucle fermée, sans la nécessité de procéder à l'identification du modèle et en suivant la procédure classique pour développer un contrôleur basé sur un modèle. Ici, nous proposons l'application du concept d'hybridation pour exploiter le contrôle PID classique et certains outils de contrôle non linéaires tels que contrôle par mode glissement du premier et du second ordre, observateur à grand gain,
backstepping et techniques adaptatives pour développer des systèmes de contrôle efficaces et pratiques. Tous les systèmes de contrôle développés dans cette thèse sont numériquement mis en oeuvre et évaluées sur la carte de contrôle eZdsp F2812. Par conséquent, l'applicabilité des techniques de modèle libre proposé pour l'application pratique est démontrée. En outre, certains des régimes de contrôle proposés ont réalisé avec succès un bon compromis entre les objectifs au rotor d’atténuation des vibrations et la minimisation des courants de commande sur une grande plage de fonctionnement.
Advisors/Committee Members: Dubois, Maxime (advisor), Bakay, Loicq (advisor).
Subjects/Keywords: Magnetic bearings; Sliding mode control; Adaptive backstepping control; Model-free control; Roulements magnétiques; Contrôle par mode de glissement; Contrôle backstepping adaptive; Model-libre contrôle
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APA ·
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APA (6th Edition):
Kandil, M. S. (2017). Sliding mode control of active magnetic bearings with low losses : a model-free approach: Commande par mode glissant de paliers magnétiques actifs économes en énergie : une approche sans modèle. (Doctoral Dissertation). Université de Sherbrooke. Retrieved from http://hdl.handle.net/11143/10166
Chicago Manual of Style (16th Edition):
Kandil, Mohamed Salah. “Sliding mode control of active magnetic bearings with low losses : a model-free approach: Commande par mode glissant de paliers magnétiques actifs économes en énergie : une approche sans modèle.” 2017. Doctoral Dissertation, Université de Sherbrooke. Accessed January 22, 2021.
http://hdl.handle.net/11143/10166.
MLA Handbook (7th Edition):
Kandil, Mohamed Salah. “Sliding mode control of active magnetic bearings with low losses : a model-free approach: Commande par mode glissant de paliers magnétiques actifs économes en énergie : une approche sans modèle.” 2017. Web. 22 Jan 2021.
Vancouver:
Kandil MS. Sliding mode control of active magnetic bearings with low losses : a model-free approach: Commande par mode glissant de paliers magnétiques actifs économes en énergie : une approche sans modèle. [Internet] [Doctoral dissertation]. Université de Sherbrooke; 2017. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/11143/10166.
Council of Science Editors:
Kandil MS. Sliding mode control of active magnetic bearings with low losses : a model-free approach: Commande par mode glissant de paliers magnétiques actifs économes en énergie : une approche sans modèle. [Doctoral Dissertation]. Université de Sherbrooke; 2017. Available from: http://hdl.handle.net/11143/10166
30.
Zhang, Christophe.
Contrôle et stabilisation internes de systèmes hyperboliques en 1-D : Internal control and stabilization of 1-D hyperbolic systems.
Degree: Docteur es, Mathématiques appliqués, 2019, Sorbonne université
URL: http://www.theses.fr/2019SORUS435
► Dans cette thèse nous étudions des questions de contrôlabilité et de stabilisation de certains systèmes hyperboliques en une dimension d’espace, avec un contrôle interne. La…
(more)
▼ Dans cette thèse nous étudions des questions de contrôlabilité et de stabilisation de certains systèmes hyperboliques en une dimension d’espace, avec un contrôle interne. La première question traitée est celle de la contrôlabilité interne indirecte d’un système de deux équations d’ondes semilinéaires couplées, avec un contrôle fonction du temps et de l’espace. A l’aide de la méthode dite des contrôles fictifs, nous donnons des conditions suffisantes pour qu’un tel système soit localement contrôlable autour de 0, ainsi qu’une condition naturelle reliant le temps minimal de contrôle et le support du contrôle. Puis, nous étudions un cas particulier où les conditions suffisantes ne sont pas vérifiées, en appliquant la méthode du retour. La seconde question est celle de la conception de feedbacks saclaires explicites pour stabiliser des systèmes dont on sait qu’ils sont contrôlables. La méthode employée est inspirée de la méthode du backstepping telle que développée par Krstic, et de ses développements les plus récents : ainsi, la contrôlabilité du système étudié joue un rôle prépondérant ici. Elle permet d’obtenir des feedbacks stationnaires explicites qui stabilisent une équation de transport linéaire périodique exponentiellement, voire en temps fini. Pour finir nous illustrons cette méthode sur un système plus complexe, dit du “bac d’eau”. Nous prouvons que les linéarisés autour de tout équilibre à accélération constante non-nulle sont contrôlables si l’accélération n’est pas trop grande. La méthode donne des feedbacks qui restent explicites, mais ne sont plus stationnaires, et nécessitent l’ajout d’un intégrateur dans la boucle de stabilisation.
In this thesis we study controllability and stabilization questions for some hyperbolic systems in one space dimension, with an internal control. The first question we study is the indirect internal controllability of a system of two coupled semilinear wave equations, the control being a function of time and space. Using the so-called fictitious control method, we give sufficient conditions for such a system to be locally controllable around 0, and a natural condition linking the minimal control time to the support of the control. Then, we study a particular case where the aforementioned sufficient conditions are not satisfied, applying the return method.The second question in this thesis is the design of explicit scalar feedbacks to stabilize controllable systems. The method we use draws from the backstepping method for PDEs elaborated by Miroslav Krstic, and its most recent developments: thus, the controllability of the system under consideration plays a crucial role. The method yields explicit stationary feedbacks which stabilize the linear periodic transport equation exponentially, and even in finite time. Finally, we implement this method on a more complex system, the so-called water tank system. We prove that the linearized systems around constant acceleration equilibria are controllable if the acceleration is not too strong. Our method then yields explicit feedbacks…
Advisors/Committee Members: Coron, Jean-Michel (thesis director).
Subjects/Keywords: Contrôles internes; Systèmes hyperboliques; Équations couplées; Contrôles fictifs; Backstepping; Stabilisation exponentielle; Internal controls; Hyperbolic systems; Coupled equations; Fictitious controls; Backstepping; Exponential stabilization; 515.3
Record Details
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Zhang, C. (2019). Contrôle et stabilisation internes de systèmes hyperboliques en 1-D : Internal control and stabilization of 1-D hyperbolic systems. (Doctoral Dissertation). Sorbonne université. Retrieved from http://www.theses.fr/2019SORUS435
Chicago Manual of Style (16th Edition):
Zhang, Christophe. “Contrôle et stabilisation internes de systèmes hyperboliques en 1-D : Internal control and stabilization of 1-D hyperbolic systems.” 2019. Doctoral Dissertation, Sorbonne université. Accessed January 22, 2021.
http://www.theses.fr/2019SORUS435.
MLA Handbook (7th Edition):
Zhang, Christophe. “Contrôle et stabilisation internes de systèmes hyperboliques en 1-D : Internal control and stabilization of 1-D hyperbolic systems.” 2019. Web. 22 Jan 2021.
Vancouver:
Zhang C. Contrôle et stabilisation internes de systèmes hyperboliques en 1-D : Internal control and stabilization of 1-D hyperbolic systems. [Internet] [Doctoral dissertation]. Sorbonne université; 2019. [cited 2021 Jan 22].
Available from: http://www.theses.fr/2019SORUS435.
Council of Science Editors:
Zhang C. Contrôle et stabilisation internes de systèmes hyperboliques en 1-D : Internal control and stabilization of 1-D hyperbolic systems. [Doctoral Dissertation]. Sorbonne université; 2019. Available from: http://www.theses.fr/2019SORUS435
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Open Access Theses and Dissertations