Commande robuste de systèmes à retard variable : Contributions théoriques et applications au contrôle moteur

Abstract : This thesis addresses the general problem of robust compensation of input delays. Motivated by engine applications, we theoretically study prediction-based control laws for uncertain delays and time-varying delays. Results of asymptotic convergence are obtained. In a first part, a general delay-adaptive scheme is proposed to handle uncertainties, through a Lyapunov-Krasovskii analysis induced by a backstepping transformation (applied to a transport equation) recently introduced in the literature.In a second part, conditions to handle delay variability are established. A particular class of input-dependent delay is considered (transport). Halanay-like stability results serve to formulate a small-gain condition guaranteeing robust compensation. Illustrative examples and experimental results obtained on a test bench assess the implementability of the proposed control laws and highlight the merits of the approach.
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Delphine Bresch-Pietri. Commande robuste de systèmes à retard variable : Contributions théoriques et applications au contrôle moteur. Mathématiques générales [math.GM]. Ecole Nationale Supérieure des Mines de Paris, 2012. Français. ⟨NNT : 2012ENMP0060⟩. ⟨pastel-00803271⟩

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