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Nombre de lectures | 31 |
Langue | English |
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ÉCOLE CENTRALE DE LILLE
THÈSE
présentée en vue d’obtenir le grade de
DOCTEUR
Spécialité : Automatique et Informatique Industrielle
par
JIANG Wenjuan
Doctorat délivré par l’École Centrale de Lille
Contribution à la commande et à l’observation
des systèmes en réseaux
A contribution to control and observation of networked control systems
Soutenue le 30 juin 2009 devant le jury constitué de :
Rapporteur M. DIVOUX Thierry Professeur, UHP - Nancy 1
Rapporteur M. SENAME Olivier Professeur, INPG - Grenoble
Membre M. GUERRA Thierry-Marie Professeur, UVHC - Valenciennes
Membre M. JOHANSSON Karl Henrik Professeur, KTH - Stockholm, Sweden
Membre M. KRUSZEWSKI Alexandre Maitre de Conférences, EC Lille
Membre M. MOUNIER Hugues Professeur, U-PSud - Paris
Directeur de thèse M. RICHARD Jean-Pierre Professeur, EC Lille
Co-directeur de thèse M. TOGUYENI Armand Professeur, EC Lille
Thèse préparée au Laboratoire d’Automatique, Génie Informatique et Signal
L.A.G.I.S., CNRS UMR 8146 - Ecole Centrale de Lille
École Doctorale SPI 072
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tel-00410467, version 1 - 20 Aug 2009tel-00410467, version 2 - 16 Mar 2011Acknowledgments
I would like to take the opportunity to thank all friends and colleagues that have given me
support and encouragement in my thesis work.
My work has been carried out under the advisement of Jean-Pierre Richard and Armand
Toguyeni, professors of Ecole Centrale de Lille. I would like to thank them for their patience,
continuous encouragement and the share of their research experience. During my work, I have
also been inspired by Alexandre Kruszewski who is always enthusiastic in the work.
I would like to thank the members of my PhD Committee, Thierry-Marie Guerra, Karl
Henrik Johansson and Hugues Mounier for their attentive lecture of my manuscript, Thierry
Divoux and Olivier Sename for their help and suggestions concerning my research.
I would like to express my sincere gratitude to the group working in the field of time-delay
systems. My own research has benefited from them. I would especially like to mention Lotfi
Belkoura, Wilfrid Perruquetti, Thierry Floquet et Laurentiu Hetel. It has been a privilege to
work together with the intelligent and friendly colleagues.
I would like to thank all the support staff. Throughout the years they have been very helpful.
I first think of Philippe Vanheeghe, professor of Ecole Centrale de Lille and the chef of LAGIS.
The secretariat has always been run with perfectionism, Virginie Leclercq, Marie-Françoise
Tricot, Christine Yvoz and Brigitte Foncez have relieved me of the administrational work. My
thanks also goes to Bernard, Hilaire, Gilles, Jacques, Patrick and Régine for their help, humor
and hospitality. Thanks to them, I have passed three agreeable years in the laboratory.
Special thanks goes to Hélène Catsiapis, my French teacher. With her, we learned the
language, history, culture and also we learned to appreciate the famous French food.
I would like to thank all my friends in Lille for their friendship and supports.
The work has been partly supported by the China Scholarship Council.
Finally, I want to thank all my family for always supporting and encouraging me.
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tel-00410467, version 1 - 20 Aug 2009tel-00410467, version 2 - 16 Mar 2011Contents
Acronyms ix
Notations xi
General Introduction 1
Chapter 1 Preliminaries 7
1.1 Networked control systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1.1 Two related research directions . . . . . . . . . . . . . . . . . . . . . . 7
1.1.2 Structures for the control over networks . . . . . . . . . . . . . . . . . 10
1.2 Time-delays for NCS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2.1 Three types of Network Induced Delays (NID) . . . . . . . . . . . . . 12
1.2.2 Various hypothesis concerning the delays in the NCS literature . . . . . 15
1.2.3 Delays in-the-loop and stability . . . . . . . . . . . . . . . . . . . . . 17
1.3 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Chapter 2 Implementation of the remote control system 21
2.1 Application system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.2 Data communication through the Internet . . . . . . . . . . . . . . . . . . . . 23
2.2.1 Transmission and receipt of the control data . . . . . . . . . . . . . . . 23
2.2.2 Control experiments over Internet . . . . . . . . . . . . . . . . . . . . 24
2.2.3 Clock synchronization between the Master and the Slave . . . . . . . . 25
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2.3 Program with multiple tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.3.1 Sockets for inter-process communication . . . . . . . . . . . . . . . . 26
2.3.2 Multiple hierarchical processes . . . . . . . . . . . . . . . . . . . . . . 27
2.3.3 Multiple threads technique . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4 Architecture of the computer programs . . . . . . . . . . . . . . . . . . . . . . 28
2.4.1 The structure of the Master . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4.2 The structure of the Slave . . . . . . . . . . . . . . . . . . . . . . . . 30
2.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Chapter 3 Output feedback stabilization 33
3.1 Stability condition for the linear time-delay system . . . . . . . . . . . . . . . 34
3.1.1 A new result for the asymptotic stability of interval time-delay systems 34
3.1.2 Numerical examples . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.2 Exponential stability of interval time-delay systems . . . . . . . . . . . . . . . 38
3.2.1 Polytopic method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.2.2 Exponential LKFs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.3 Output feedback stabilization of a NCS with remote observer . . . . . . . . . . 41
3.3.1 Description of the closed-loop system . . . . . . . . . . . . . . . . . . 41
3.3.2 Observer design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.3.3 Control design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.3.4 Global stability of the remote system . . . . . . . . . . . . . . . . . . 45
3.4 Results and analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.4.1 Results obtained when neglecting the network effects . . . . . . . . . . 46
3.4.2 Design of the observer and controller gains . . . . . . . . . . . . . . . 47
3.4.3 Results of the centralized experiment . . . . . . . . . . . . . . . . . . 48
3.4.4 Result of the remote experiment via Internet . . . . . . . . . . . . . . . 50
3.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
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tel-00410467, version 1 - 20 Aug 2009tel-00410467, version 2 - 16 Mar 2011Chapter 4 Stabilization of a remote system: a QoS dependent controller 53
4.1 Time-delay effect on the performance of systems . . . . . . . . . . . . . . . . 55
4.2 A switched controller with arbitrary switches and a common LKF . . . . . . . 56
4.2.1 Asymptotic stability of switched systems . . . . . . . . . . . . . . . . 57
4.2.2 Exponential stability of the switched systems . . . . . . . . . . . . . . 60
4.2.3 Exponential stabilization of the controller and observer parts, separately 61
4.2.4 Exponential stabilization of the global NCS (controller+observer) . . . 63
4.2.5 Performance enhancement . . . . . . . . . . . . . . . . . . . . . . . . 63
4.2.6 Experimental results . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.2.7 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.3 A switched controller with multiple LKF and minimum dwell time . . . . . . . 68
4.3.1 Performance guarantee . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.3.2 Exponential stabilization of the global NCS (controller+observer) with
minimum dwell time . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.3.3 Experimental study . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
4.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Chapter 5 Fully event-driven control with packet dropouts consideration 89
5.1 Driving modes of nodes in NCS . . . . . . . . . . . . . . . . . . . . . . . . . 90
5.2 Maximum number of consecutive lost packets: The single delay interval case . 92
5.3 Maximum number of consecutive lost packets for NCS with QoS switches . . . 93
5.4 Experimental results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
5.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Conclusions and Perspectives 99
Résumé étendu en français 103
References 117
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tel-00410467, version 1 - 20 Aug 2009tel-00410467, version 2 - 16 Mar 2011Acronyms
CPU : Central Processing Unit
HDS : Hybrid Dynamical Systems
IP : Internet Protocol
ICMP : Internet Control Message Protoco