Commande à échantillonnage variable pour les systèmes LPV : application à un sous-marin autonome

Emilie Roche 1, 2
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : Discrete time controller using variable sampling can ba interesting in several cases, for axample when the measure, even if send periodically, is received with a variable interval. This is the case in submarine environement, when the altitude measurement is done using an ultrasonic sensor. Discrete control laws synthesis with variable sampling period have already been studied for LTI systems. The results are here extended to Linear Parameter Varying systems, that allow to keep some non-linearities as parameters of a linear system. In particular, two approaches are investigated : the polytopic and the LFR. The proposed method is applied for the altitude control of an autonomous underwater vehicle (AUV). Simulations results will show the interest of the method, in particular how results are improved by adding some parameters coming from the non linear model.
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Emilie Roche. Commande à échantillonnage variable pour les systèmes LPV : application à un sous-marin autonome. Autre. Université de Grenoble, 2011. Français. ⟨NNT : 2011GRENT116⟩. ⟨tel-00721970⟩

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