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Détail de l'indexation
M001997
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Ouvrages de la bibliothèque en indexation M001997
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Modélisation, analyse et méthodologies de commande linguistique floue d'un bras manipulateur de robot flexible / Loudini, Malik
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Titre : Modélisation, analyse et méthodologies de commande linguistique floue d'un bras manipulateur de robot flexible Type de document : texte imprimé Auteurs : Loudini, Malik, Auteur ; Souami, Chérif, Directeur de thèse Editeur : [S.l.] : [s.n.] Année de publication : 1997 Importance : 199 f. Présentation : ill. Format : 30 cm. Note générale : Mémoire de Magister : Automatique : Alger, Ecole Nationale Polytechnique : 1997
Annexe f. 175 - 183 . Bibliogr. f. 184 - 199Langues : Français (fre) Mots-clés : Structure mécanique légère ; Robot manipulateur flexible ; Modèle linéaire ; Modèle non linéaire ; Logique floue ; Base de connaissances ; Commande linguistique floue ; Commande en position ; Poursuite de trajectoire ; Contrôleur de Mamdani ; Commande multi-échelle ; Commande hybride Index. décimale : M001997 Résumé : Les travaux présentés dans cette thèse concernent la modélisation, l'analyse et le contrôle intelligent de l'organe terminal d'un bras de robot planaire à une liaison flexible. Le but principal est la conception de stratégies de commande évoluées basées sur les concepts de logique floue et leur application à la commande en position et à la poursuite de trajectoire de l'extrémité de préhension du robot étudié. L'élasticité structurale inhérente à la liaison est étudiée en utilisant la théorie des poutres de Timoshenko. Deux modèles dynamiques linéaire et non linéaire sont alors développés en se basant sur l'association du formalisme Lagrangien et de la méthode des modes supposés. Nous appliquons un premier schéma de commande au modèle linéaire que nous testons, après, sur le modèle non linéaire. Nous proposons, ensuite, deux nouvelles structures de contrôle pour améliorer les résultats obtenus. Une simulation numérique montre les réponses du système commandé à ces structures de contrôle que nous discutons et prouvons l'efficacité à travers les performances réalisées. Modélisation, analyse et méthodologies de commande linguistique floue d'un bras manipulateur de robot flexible [texte imprimé] / Loudini, Malik, Auteur ; Souami, Chérif, Directeur de thèse . - [S.l.] : [s.n.], 1997 . - 199 f. : ill. ; 30 cm.
Mémoire de Magister : Automatique : Alger, Ecole Nationale Polytechnique : 1997
Annexe f. 175 - 183 . Bibliogr. f. 184 - 199
Langues : Français (fre)
Mots-clés : Structure mécanique légère ; Robot manipulateur flexible ; Modèle linéaire ; Modèle non linéaire ; Logique floue ; Base de connaissances ; Commande linguistique floue ; Commande en position ; Poursuite de trajectoire ; Contrôleur de Mamdani ; Commande multi-échelle ; Commande hybride Index. décimale : M001997 Résumé : Les travaux présentés dans cette thèse concernent la modélisation, l'analyse et le contrôle intelligent de l'organe terminal d'un bras de robot planaire à une liaison flexible. Le but principal est la conception de stratégies de commande évoluées basées sur les concepts de logique floue et leur application à la commande en position et à la poursuite de trajectoire de l'extrémité de préhension du robot étudié. L'élasticité structurale inhérente à la liaison est étudiée en utilisant la théorie des poutres de Timoshenko. Deux modèles dynamiques linéaire et non linéaire sont alors développés en se basant sur l'association du formalisme Lagrangien et de la méthode des modes supposés. Nous appliquons un premier schéma de commande au modèle linéaire que nous testons, après, sur le modèle non linéaire. Nous proposons, ensuite, deux nouvelles structures de contrôle pour améliorer les résultats obtenus. Une simulation numérique montre les réponses du système commandé à ces structures de contrôle que nous discutons et prouvons l'efficacité à travers les performances réalisées. Exemplaires
Code-barres Cote Support Localisation Section Disponibilité Spécialité Etat_Exemplaire M001997 M001997 Papier Bibliothèque centrale Mémoire de Magister Disponible Documents numériques
LOUDINI.Malik.pdfURL