[tel-01137564] Feedback adaptive compensation for active vibration control in the presence of plant parameter uncertainties

In this thesis, solutions for the design of robust Active Vibration Control (AVC) systems are presented. The thesis report is composed of two main parts. In the first part of the thesis, uncertainties issues in Active Vibration Control systems are examined. In addition to the uncertainties on the frequency of the disturbance, it has been found that the presence of low damped complex zeros raises difficult design problems even if plant and models are perfectly known. Solutions for the linear control in this context have been proposed. In order to reduce the uncertainties in the identification of low damped complex zeros, an improved closed loop identification procedure has been developed. To handle the uncertainties on the disturbance, frequency adaptation has to be used anyway. The second part deals with further developments and/or improvements of the now classical direct adaptive feedback compensation algorithms using the Youla-Kucera controller parameterization. Two new solutions have been proposed in this context. The first one results from the improvement of a previous work (Landaue et. al., 2005). The contributions are a new robust central controller design and the optional use of overparameterization of the Q-FIR filter which aims to ensure a small waterbed effect for the output sensitivity function, reducing therefore the unwanted amplification. The second algorithm presents a mixed direct/indirect structure which uses a Q-IIR filter. The improvements are mainly due to the effect of the Q filter denominator, obtained form a disturbance identification. This solution, in addition, drastically simplifies the design of the central controller. The algorithms have been tested, compared and validated on an international benchmark setup available at the Control Systems Department of GIPSA-Lab, Grenoble, France.



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