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RÉSUMÉ. Cet article concerne le problème de commande prédictive des systèmes dynamiques hybrides (SDH) modélisés par réseaux de Petri hybrides (RdPH) élémentaires avec des transitions immédiates et/ou temporisées. Le but est de piloter ces systèmes afin d’atteindre un marquage désiré. Étant donné que le SDH intègre à la fois des processus continus et discrets en interaction, la commande hybride proposée est composée d’actions de commande continues et discrètes. A chaque pas d’échantillonnage, la commande prédictive discrète explore partiellement le graphe d’atteignabilité et détermine l’ensemble des séquences de commandes réalisables de taille bornée. La commande prédictive continue calcule, pour chacune de ces séquences, la commande constante associée sur un horizon de prédiction continu variable, afin de choisir la commande hybride optimale qui minimise un critère de performance.
ABSTRACT. This paper addresses the predictive control design of Hybrid Dynamic Systems (HDS) modeled by Elementary Hybrid Petri Net (HPN) systems with timed and/or immediate discrete transitions. Our goal is to drive a HPN to reach a desired marking. Since HDS incorporates both discrete and continuous processes, the proposed control strategy, called Hybrid Predictive Control, is composed of discrete and continuous predictive control actions. At each sampling period, the discrete control explores a portion of the reachability graph and selects a set of feasible control sequences whose length is upper bounded. The continuous predictive control computes, for each sequence, the corresponding continuous constant control action, over a variable continuous prediction horizon, in order to find the optimal hybrid control that minimizes a certain cost function.
réseau de Petri continu, réseau de Petri discret, réseau de Petri hybride élémentaire, commande prédictive
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