Alain Glumineau

New algebraic-geometric conditions for the linearization by input-output injection

The goal of this paper is twofold. It unifies and generalizes existing results on input-output injection linearization of nonlinear systems. The problem is solved as a realization problem since it is based on the analysis of the structure of the input-output differential equation. The necessary and sufficient conditions are derived from a simplified and constructive procedure. For clarity, the paper is limited to the case of single output systems. Exterior differential systems are extensively used throughout the paper, giving constructive conditions.

An Adaptive Interconnected Observer for Sensorless Control of PM Synchronous Motors With Online Parameter Identification

This paper proposes an adaptive interconnected observer for sensorless control of a synchronous motor. The corresponding observer is used to estimate the rotor speed, the rotor position, and the load torque and, moreover, to estimate the stator inductance and the stator resistance. The convergence of the observer estimation error is analyzed, and sufficient conditions are given to prove the practical stability. Experimental results are shown to confirm the effectiveness of the proposed method.

High-Order Sliding-Mode Controllers of an Electropneumatic Actuator: Application to an Aeronautic Benchmark

This paper presents the control of an electropneumatic system used for moving steering mechanism. This aeronautic application needs a high-precision position control and high bandwidth. The structure of the experimental setup and the benchmark on which controllers are evaluated have been designed in order to precisely check the use of such actuator in aeronautics. Two kinds of controllers are designed: a linear one based on gain scheduling feedback, and two high order sliding mode controllers ensuring finite-time convergence, high accuracy and robustness. Experimental results display feasibility and high performance of each controller and a comparison study is done.

Sensorless Induction Motor: High-Order Sliding-Mode Controller and Adaptive Interconnected Observer

An adaptive interconnected observer and high-order sliding-mode control of induction motors without mechanical sensors (speed sensor and load torque sensor) are proposed and experimentally evaluated. The adaptive interconnected observer estimates fluxes, angular velocity, load torque, and stator resistance. Stability based on Lyapunov theory is proved to guarantee the ldquoobserver-controllerrdquo stability.

Experimental results for the end-effector control of a single flexible robotic arm

Various control schemes for a single flexible robot arm are considered in this paper. They require a limited amount of on-line computations. All trials are performed on the physical process and embody a conclusive, although partial, comparison for this kind of single axis robot. They are representative of some major applied research directions which captured the attention of many researchers throughout the 1980s. Some general conclusions are derived. >

Brief paper: Robust output feedback sampling control based on second-order sliding mode

This paper proposes a new second-order sliding mode output feedback controller. This is developed in the case of finite sampling frequency and uses only output information in order to ensure desired trajectory tracking with high accuracy in a finite time in spite of uncertainties and perturbations. This new strategy is evaluated in simulations on an academic example.

Robust second order sliding mode control for a permanent magnet synchronous motor

This paper deals with the robust control problem of a permanent magnet (PM) synchronous motor subjected to parameters uncertainties and load disturbance. The mathematical model of the motor is expressed in the (d, q) frame. The control strategy is based on a multi-input multi-output (MIMO) second order sliding mode approach. Under an assumption on the choice of controller gains, it is proved that the control law converges in spite of the parameters uncertainties and the outputs coupling. Implementation results on an experimental set-up are given in the framework of an industrial benchmark.

Robust integral backstepping control for sensorless IPM synchronous motor controller

Abstract In this paper, a sensorless speed control for interior permanent magnet synchronous motors (IPMSM) is designed by combining a robust backstepping controller with integral actions and an adaptive interconnected observer. The IPMSM control design generally requires rotor position measurement. Then, to eliminate this sensor, an adaptive interconnected observer is designed to estimate the rotor position and the speed. Moreover, a robust nonlinear control based on the backstepping algorithm is designed where an integral action is introduced in order to improve the robust properties of the controller. The stability of the closed-loop system with the observer–controller scheme is analyzed and sufficient conditions are given to prove the practical stability. Simulation results are shown to illustrate the performance of the proposed scheme under parametric uncertainties and low speed. Furthermore, the proposed integral backstepping control is compared with the classical backstepping controller.

Robust control of a brushless servo motor via sliding mode techniques

Robust control of a synchronous machine via sliding mode techniques is tackled in some detail. Such control laws are well suited for the electric power converter. However, high frequency commutations are avoided due to the mechanical systems. Various recent schemes are studied and operated to derive control solutions which are technically feasible. Robustness is studied with respect to rotor flux uncertainties and to stator resistance which varies with the temperature of the motor.

New predictive scheme for the control of LTI systems with input delay and unknown disturbances

A new predictive scheme is proposed for the control of Linear Time Invariant (LTI) systems with a constant and known delay in the input and unknown disturbances. It has been achieved to include disturbances effect in the prediction even though there are completely unknown. The Artstein reduction is then revisited thanks to the computation of this new prediction. An extensive comparison with the standard scheme is presented throughout the article. It is proved that the new scheme leads to feedback controllers that are able to reject perfectly constant disturbances. For time-varying ones, a better attenuation is achieved for a wide range of perturbations and for both linear and nonlinear controllers. A criterion is given to characterize this class of perturbations. Finally, some simulations illustrate the results.