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Theses

Identification par Modèle Non Entier pour la Poursuite Robuste de Trajectoire par Platitude

Abstract : The general theme of the work enables to handle a system, from identification to robust control. Flatness principles tackle path planning unless knowing the system model, hence the system parameter identification necessity. The principal contribution of this thesis deals with system identification by non integer models and with robust path tracking by the use of flatness principles for fractional models. Chapter 1 recalls the definitions and properties of a fractional operator and also the various representation methods of a fractional system. The stability theorem is also brought to mind. Fractional polynomial and fractional polynomial matrix algebras are introduced for the extension of flatness principles for fractional systems. Chapter 2 is about non integer model identification. After a state of the art on system identification by non integer model, two contexts are considered: in presence of white noise and of colored noise. In each situation, two optimal (in variance and bias sense) estimators are put forward: one, when considering a known model structure with fixed differentiating orders, and another one by combining nonlinear programming technics for the optimization of coefficients and differentiating orders. Chapter 3 establishes the extension of flatness principles to fractional systems. Flatness of linear fractional systems are studied while considering different approaches such as transfer functions or pseudo-state-space representations with polynomial matrices. Path tracking robustness is ensured with CRONE control. Simulation examples display theoretical developments on flatness through thermal diffusion on a metallic rod. Finally, Chapter 4 is devoted to validate the contributions to system identification, to trajectory planning and to robust path tracking on a real fractional system: a metallic rod submitted to a heat flux.
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  • HAL Id : tel-01319114, version 1

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Stephane Victor. Identification par Modèle Non Entier pour la Poursuite Robuste de Trajectoire par Platitude. Automatique / Robotique. Université Bordeaux 1, 2010. Français. ⟨tel-01319114⟩

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