Etude sur la modelisation mathematique informatisee de la commande d'un robot afin d'ameliorer sa precision d'operation

Abstract

Cette etude presente un modele de reference (MR) destine a la commande de systeme mecanique complexe (SMC) avec une application particuliere pour le robot GMF-S100. Ce MR se definit comme etant la connaissance informatisee de la dynamique d'un SMC, dont il se sert pour generer, grace a la prediction, un signal de commande en temps reel. Le MR est hierarchise sur trois niveaux, soit la connaissance globale et specifique (CC, CS) et la structure d'action (SA). La SA utilise un principe de commande predictive inspire de l'algorithme de Smith. L'etat predit servira essentiellement a la loi de commande sub-optimale par mode de glissement en plus d'intervenir dans le processus d'actualisation des parametres. La prediction se fait par un modele mathematique local, modele lineaire par intervalle et entierement decouple. L'agregation est assuree par l'actualisation des parametres en fonction de l'etat global du systeme. Ceux-ci sont encodes sous forme de structures dendritiques lesquelles constituent la CS, specifique a une tache, un environnement et un critere de performance donne.

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This study presents a reference model (MR) intended for the control of complex mechanical systems (SMC) with a particular application for the GMF-S100 robot. This MR is defined as being the computerized knowledge of the dynamics of an SMC, which it uses to generate, thanks to the prediction, a control signal in real time. The RM is hierarchized on three levels, namely global and specific knowledge (CC, CS) and action structure (SA). The SA uses a predictive control principle inspired by Smith's algorithm. The predicted state will essentially be used for the sub-optimal control law by sliding mode in addition to intervening in the process of updating the parameters. The prediction is made by a local mathematical model, linear model by interval and fully decoupled. Aggregation is ensured by updating the parameters according to the global state of the system. These are encoded in the form of dendritic structures which constitute the SC, specific to a given task, environment and performance criterion.