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Contrôle adaptatif robuste. Application au contrôle d'attitude de satellites

Harmonie Leduc 1
1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This manuscript deals with robust direct adaptive control, and its application to CNES microsatellites attitude control. After listing the different types of time-varying controllers, we recall the characteristics of direct adaptive control. In particular, we recall that the knowledge of a stabilizing static output feedback is sufficient to design a direct adaptive controller. In parallel, we introduce the descriptor system theory. Modelizing a system into descriptor form is not usual but fits well with robust direct adaptive control. Starting from existing results about adaptive control and descriptor system theory, we provide an LMI based method which allows to compute, with the knowledge of a stabilizing static output feedback, the parameters of a stabilizing direct adaptive controller. A first result proves that the adaptive controller is at least as robust as the static output feedback. The second result allows to prove improved robustness at the expense of relaxing stability of the equilibrium point to practical stability, that is convergence to a neighborhood of the equilibrium. Then, we provide a method, LMI based as well, which allows to design a robust direct adaptive controller which has a better level of rejection of the perturbations than the static output feedback from which it is designed. All these theoretical results are applied to the attitude control of CNES microsatellites. We design a controller which stabilizes the attitude of the satellite whatever the value of its inertia. This attitude controller can also avoid the satellite reaction wheels to saturate. We design another robust adaptive attitude controller which has a better level of rejection of the perturbations than the static controller which is currently implemented aboard CNES satellites. Finally, we validate all the results of this manuscript by simulating on a AOCS CNES simulator the deployment of the satellite masts and some guiding jumps.
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Harmonie Leduc. Contrôle adaptatif robuste. Application au contrôle d'attitude de satellites. Automatique / Robotique. INSA de Toulouse, 2017. Français. ⟨NNT : 2017ISAT0022⟩. ⟨tel-01705517v2⟩

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