Remote Stabilization via Communication Networks with a Distributed Control Law

Emmanuel Witrant (1, 2) , Carlos Canudas de Wit (2) , Didier Georges (2, 3) , Mazen Alamir (3, 2)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
2 NECS - Networked Controlled Systems
3 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

In this paper we investigate the problem of remote stabilization via communication networks involving some time-varying delays of known average dynamics. This problem arises when the control law is remotely implemented and leads to the problem of stabilizing an open-loop unstable system with time-varying delay. We use a time-varying horizon predictor to design a stabilizing control law that sets the poles of the closed-loop system. The computation of the horizon of the predictor is investigated and the proposed control law takes into account the average delay dynamics explicitly. The resulting closed loop system robustness with respect to some uncertainties on the delay model is also considered. Simulation results are finally presented.

Domaines: Automatique / Robotique

Emmanuel Witrant, Carlos Canudas de Wit, Didier Georges, Mazen Alamir. Remote Stabilization via Communication Networks with a Distributed Control Law. IEEE Transactions on Automatic Control, 2007, 52 (8), pp.1480-1486. ⟨10.1109/TAC.2007.902757⟩. ⟨hal-00201790⟩