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Modelisation, Identification et Commande D’un Bras Manipulateur Souple

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Analysis and Optimization of Systems

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 83))

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Resume

Nous présentons dans cet article quelques résultats de modélisation, d’identification et de commande adaptative d’un bras manipulateur souple un degré de liberté. La modélisation de ce procédé est basée sur la méthode des éléments finis, appliquée une poutre. Diverses approches, pour l’identification du procédé, ont été utilisées. Parmi elles, les méthodes paramétriques ont donné des modèles paramétriques qui conviennent pour la commande par calculateur numérique. Quelques résultats expérimentaux de commande linéaire ont validé les modèles obtenus. Ces modèles ont été utilisés pour des simulations d’algorithmes de commande adaptative.

Abstract

Some results concerning modeling, identification and adaptive control of a flexible arm are presented. Different identification techniques are used. Some lead to discrete time parametricmodels useful for digital control. Some experiments have been performed in linear control to validate the modela. Some simulations based on these models have been made in adaptive control.

Travail effectué dans le cadre du contrat 83/778 de l’ADI et du contrat RTNA.

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Bibliographie

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Author information

Authors and Affiliations

  1. Laboratoire D’automatique de Grenoble, Greco Cnrs “Systemes Adaptatifs” Inpg, ENSIEG, B.P. 46, 38402, Saint Martin D’heres, UK

    E. Van Den Bossche, L. Dugard & I. D. Landau

Authors
  1. E. Van Den Bossche
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  2. L. Dugard
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  3. I. D. Landau
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Editor information

Editors and Affiliations

  1. Institut National de Recherche en Informatique et en Automatique, INRIA, Domaine de Voluceau, Rocquencourt, B.P. 105, 78153, Le Chesnay, France

    A. Bensoussan  & J. L. Lions  & 

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© 1986 Springer Science+Business Media Dordrecht

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Van Den Bossche, E., Dugard, L., Landau, I.D. (1986). Modelisation, Identification et Commande D’un Bras Manipulateur Souple. In: Bensoussan, A., Lions, J.L. (eds) Analysis and Optimization of Systems. Lecture Notes in Control and Information Sciences, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0007555

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  • DOI: https://doi.org/10.1007/BFb0007555

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-16729-7

  • Online ISBN: 978-3-540-39856-1

  • eBook Packages: Springer Book Archive

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