Stabilisation des systèmes commandés par réseaux

Nous etudions dans cette these le probleme de stabilisation de systemes physiques par l'intermediaire d'un reseau de communication induisant des retards de dynamique connue. Ce probleme apparait lorsque la loi de commande est mise en ouvre a distance et conduit au probleme de la stabilisation d'un systeme instable en boucle ouverte avec un retard variant dans le temps. Nous utilisons un predicteur d'etat a horizon variable afin d'etablir une loi de commande stabilisante qui place les poles du systeme en boucle fermee. Le calcul de l'horizon de prediction est detaille afin d'etablir un controleur qui utilise de maniere explicite les dynamiques du retard et est robuste vis-a-vis d'erreurs d'estimation induites par le modele de reseau utilise. Cette analyse de robustesse permet de prendre en compte les caracteristiques non deterministes du reseau. Nous proposons finalement une loi de commande basee sur un observateur pour le cas ou seule la sortie est mesurable et considerons aussi le cas de poursuite de trajectoire. Des simulations et resultats experimentaux sont proposes.

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