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Stabilisation des systèmes commandés par réseaux.

Abstract : In this thesis we investigate the problem of remote stabilization via communication networks involving some time-varying delays of known dynamics. This problem arises when the control law is remotely implemented and leads to the problem of stabilizing an open-loop unstable system with time-varying delay. We use a time-varying horizon predictor to design a stabilizing control law that sets the poles of the closed-loop system. The computation of the horizon of the predictor is detailed to establish a control law which explicitly uses the delay dynamics and is robust with respect to some uncertainties on the delay model. Thanks to this robustness analysis, we also consider the non-deterministic behaviour of the networks. We finally develop an observer-based control for the case when only the delayed system output is measurable and solve the trajectory tracking problem in this framework. Simulation and experimental results are also presented.
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Contributor : Emmanuel Witrant Connect in order to contact the contributor
Submitted on : Tuesday, February 14, 2006 - 3:20:51 PM
Last modification on : Tuesday, July 27, 2021 - 11:20:10 AM
Long-term archiving on: : Monday, September 17, 2012 - 12:01:00 PM


  • HAL Id : tel-00011606, version 1



Emmanuel Witrant. Stabilisation des systèmes commandés par réseaux.. Automatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2005. Français. ⟨tel-00011606⟩



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