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Robustesse de la commande pr´edictive explicite

Abstract : The control design techniques for linear or hybrid systems with constraints lead often to off-line state-space partitions with non-overlapping convex polyhedral regions. This corresponds to a piecewise affine (PWA) state feedback control laws associated to polyhedral partition of the state-space. Such control laws can be effectively implemented on hardwares for real-time control applications. However, the robustness of the explicit solutions depends on the accuracy of the mathematical model of the dynamical systems. The uncertainties in the system model poses serious challenges concerning the stability and implementation of the piecewise affine control laws. Motivated by the challenges facing the explicit solutions for the uncertainties in the dynamical systems, this thesis is mostly related to their analysis and re-design. The first part of this thesis aims to compute robustness margins for a given nominal PWA control law obtained for a linear discrete-time system. Classical Robustness margin i.e., gain margin and phase margin, considers the gain variation and phase variation of the model for which the stability of the closed loop is preserved.The second part of the thesis aims to consider perturbation in the representation of the vertices of the polyhedral regions. The quantized state-space partitions lose some of the important property of the explicit controllers: “non-overlapping”, “convexity” and “invariant” characterization. Two different sets called vertex-sensitivity and sensitivity margin are defined and determined to characterize admissible perturbation preserving the non-overlapping and the invariance property of the controller respectively. The third part analyse the complexity of the explicit solutions in terms of computational time and memory storage. Sequential and parallel evaluations of the PWA functions for the Alternating Direction Method of Multiplier (ADMM) algorithm are compared. In addition a comparison of the computational complexity of the parallel evaluations of the PWA functions for the Progressive Hedging Algorithm (PHA) on the Central Processing Unit (CPU) and Graphical Processing Unit (GPU) is made.
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Submitted on : Wednesday, December 20, 2017 - 10:33:42 AM
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Rajesh Koduri. Robustesse de la commande pr´edictive explicite. Autre. Université Paris-Saclay, 2017. Français. ⟨NNT : 2017SACLC052⟩. ⟨tel-01668603⟩



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