L. Modèle and .. Rationnel-de-robot-manipulateur, 75 3.2.1 Modélisation quasi-LPV par séquencement virtuel, p.75

.. Retour-d-'état-avec-taux-de-convergence-exponentielle, 97 3.4.4 Correcteur par retour de sortie dynamique avec garantie de performance en gain L 2, p.98

. Dans-ce-chapitre, nous présentons des résultats de commande et d'analyse de performance robustes de l'asservissement en position de l'organe terminal d'un manipulateur flexible en utilisant des méthodes polynomiales. L'approche proposée repose en particulier sur des relaxations convexes en sommes de carrés matricielles de problèmes SDP dépendant des paramètres de manière polynomiale. L'analyse et la synthèse de correcteurs robustes sur des régions spécifiques de l'espace paramétrique est rendu possible par l

H. Halalchi, L. Cuvillon, G. Mercère, E. Laroche, M. Grossard et al., Commande robuste des robots manipulateurs à flexibilités structurellesStructures flexibles -Applications à la manipulation robotique multi-échelles

H. Halalchi, E. Laroche, and G. I. Bara, Flexible-Link Robot Control Using a Linear Parameter Varying Systems Methodology, International Journal of Advanced Robotic Systems, vol.51, issue.1, 2012.
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H. Halalchi, G. I. Bara, and E. Laroche, Commande LPV des robots manipulateurs avec matrice de Lyapunov structurée, Conférence Internationale Francophone d'Automatique, 2010.

B. Annexe, Lemmes usuels en commande robuste B.3 Lemme de Finsler

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