Commandes coopératives embarquées et tolérantes aux défauts

Abstract : The work presented in this memory of thesis focuses on fault tolerance in the case of linear systems. Digital communication tools are used in the context of the implementation of an architecture for fault tolerant control of complex systems. A cooperation between the control/diagnosis blocks ensures the tolerance to certain types of faults which affect the system. Control system is traditionally carried out starting from a central computer that collects all information gathered on the process. Then, these information are treated in order to develop a set of command which is applied to the process. Thanks to the development of the Networked System Control and embedded systems, systems architecture is oriented towards a distributed control and diagnostic algorithms. One proposes to address the problem of designing distribution strategies for diagnosis/control and control tasks cooperation between sub-controllers associated at each subsystem comprising the complex system and to take into account the faults on the actuators and sensors that affect the subsystems. Then a cooperative control strategy is proposed. It aims at compensating the effects of the faults affecting the system. Local controls are based on Model Predictive Control (MPC). An analysis of stability was made taking into account the failure of the communication network.
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Automatique / Robotique. Université Henri Poincaré - Nancy I, 2010. Français. 〈NNT : 2010NAN10071〉
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Submitted on : Friday, December 10, 2010 - 10:18:08 AM
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Kamel Menighed. Commandes coopératives embarquées et tolérantes aux défauts. Automatique / Robotique. Université Henri Poincaré - Nancy I, 2010. Français. 〈NNT : 2010NAN10071〉. 〈tel-01748657v2〉



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