Observation et commande par systèmes à fonctionnement par morceaux : application aux asservissements visuels

Le travail de recherche presente dans ce memoire concerne l'etude et le developpement de methodes de linearisation, d'estimation d'etat et de commande pour les systemes complexes. Le chapitre 1 est consacre au concept et a la classification des systemes hybrides. L'origine et a la nature des Systemes a Fonctionnement par Morceaux (SFM) se situent dans ce contexte. Le chapitre 2 traite des controleurs de poursuite et de la linearisation des systemes reels. Les chapitres 3 et 4, quant a eux, visent a realiser la poursuite d'une trajectoire a partir d'un retour issu d'un capteur numerique delivrant une information sous forme retardee et echantillonnee. Dans le chapitre 3, un observateur continu par morceaux base sur la theorie des SFM et sur l'observateur de Luenberger est developpe. Le chapitre 4 presente une commande de stabilisation de pendule inverse (2D ou 3D) utilisant deux boucles de retour. A chaque instant d'echantillonnage du capteur, la commande agit dans le plan du pendule, ce qui permet de transformer le probleme 3D en un probleme 2D. Par rapport aux autres methodes, les methodes presentees ont l'avantage d'assurer la stabilite sans utiliser un modele linearise. Dans ce memoire, chaque methode proposee est fournie avec des exemples de simulation et d'implantation temps reel.

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