Littérature scientifique sur le sujet « Networked Control with delays »
Créez une référence correcte selon les styles APA, MLA, Chicago, Harvard et plusieurs autres
Sommaire
Consultez les listes thématiques d’articles de revues, de livres, de thèses, de rapports de conférences et d’autres sources académiques sur le sujet « Networked Control with delays ».
À côté de chaque source dans la liste de références il y a un bouton « Ajouter à la bibliographie ». Cliquez sur ce bouton, et nous générerons automatiquement la référence bibliographique pour la source choisie selon votre style de citation préféré : APA, MLA, Harvard, Vancouver, Chicago, etc.
Vous pouvez aussi télécharger le texte intégral de la publication scolaire au format pdf et consulter son résumé en ligne lorsque ces informations sont inclues dans les métadonnées.
Articles de revues sur le sujet "Networked Control with delays"
Ge, Yuan, Qigong Chen, Ming Jiang et Yiqing Huang. « Modeling of Random Delays in Networked Control Systems ». Journal of Control Science and Engineering 2013 (2013) : 1–9. http://dx.doi.org/10.1155/2013/383415.
Texte intégralLi, Hongbo, Fuchun Sun et Zengqi Sun. « Delay-Dependent Fuzzy Control of Networked Control Systems and Its Application ». Mathematical Problems in Engineering 2013 (2013) : 1–9. http://dx.doi.org/10.1155/2013/691370.
Texte intégralWang, Yilin, Hamid Reza Karimi et Zhengrong Xiang. « Delay-Dependent Control for Networked Control Systems with Large Delays ». Mathematical Problems in Engineering 2013 (2013) : 1–10. http://dx.doi.org/10.1155/2013/643174.
Texte intégralBijami, Ehsan, et Malihe Maghfoori Farsangi. « A distributed control framework and delay-dependent stability analysis for large-scale networked control systems with non-ideal communication network ». Transactions of the Institute of Measurement and Control 41, no 3 (16 mai 2018) : 768–79. http://dx.doi.org/10.1177/0142331218770493.
Texte intégralWang, Yan Ping, Qi Xin Zhu et Zhi Ping Li. « Optimal State Feedback Control in Operator Domain for Multi-Rate Networked Control Systems with Long Time Delay ». Applied Mechanics and Materials 241-244 (décembre 2012) : 1672–76. http://dx.doi.org/10.4028/www.scientific.net/amm.241-244.1672.
Texte intégralNaghavi, S. Vahid, A. A. Safavi, Mohammad Hassan Khooban, S. Pourdehi et Valiollah Ghaffari. « A robust control strategy for a class of distributed network with transmission delays ». COMPEL - The international journal for computation and mathematics in electrical and electronic engineering 35, no 5 (5 septembre 2016) : 1786–813. http://dx.doi.org/10.1108/compel-08-2015-0287.
Texte intégralZhang, Jinhui, James Lam et Yuanqing Xia. « Output feedback delay compensation control for networked control systems with random delays ». Information Sciences 265 (mai 2014) : 154–66. http://dx.doi.org/10.1016/j.ins.2013.12.021.
Texte intégralLiu, Zhong Min, Yi Wei Feng et Dong Song Luo. « New Approaches for Network-Based Control Systems with Time-Varying Delays ». Applied Mechanics and Materials 152-154 (janvier 2012) : 1821–27. http://dx.doi.org/10.4028/www.scientific.net/amm.152-154.1821.
Texte intégralBenítez-Pérez, H., A. Benítez-Pérez, J. Ortega-Arjona et O. Esquivel-Flores. « Fuzzy Networked Control Systems Design Considering Scheduling Restrictions ». Advances in Fuzzy Systems 2012 (2012) : 1–9. http://dx.doi.org/10.1155/2012/927878.
Texte intégralPang, Zhong-Hua, Zhen-Yi Liu, Zhe Dong et Tong Mu. « An Event-Triggered Networked Predictive Control Method Using an Allowable Time Delay ». Journal of Advanced Computational Intelligence and Intelligent Informatics 26, no 5 (20 septembre 2022) : 768–75. http://dx.doi.org/10.20965/jaciii.2022.p0768.
Texte intégralThèses sur le sujet "Networked Control with delays"
Deng, Yang. « Delay estimation and predictor-based control of time-delay systems with a class of various delays ». Thesis, Ecole centrale de Nantes, 2020. http://www.theses.fr/2020ECDN0014.
Texte intégralTime-delay is a widely-found phenomenon (i.e. physical dead time, communication latency, computation time) in real control systems, which can degrade the performances of the system or destabilize the system. If the time-delay is small, then the closed-loop stability can be guaranteed with conventional control techniques; but these techniques are no longer effective if the time-delay is long. This thesis is dedicated to the control of time-delaysystemswithunknown or uncertain long time-delays. In order to compensate long time-delays, the predictor-based control technique is adopted, and the delay estimation techniques are developed to assist the predictor-based controller. According to the different types of the systems and the time-delays, three objectives are analyzed in the thesis. The first objective considers the control of LTI systems with unknown constant delays, a new type of delay estimator is proposed to estimate the unknown time-delays, then it is plugged into apredictor-based controller to stabilize the system. The second objective focuses on the practical stabilization of remote control systems with unknown time-varying delays, at this time, the time-delays are estimated by a practical way: a specific communication loop is used to estimate the round-trip delay in finite time, and the system is stabilized with a predictor-based controller. This practical delay estimation algorithm is implemented on a real WiFi network, it can estimate the time-varying delays with good performances and robustness. The last objective is devoted to the control of networked control systems with time-varying delays, the discrete predictor-based control techniques are used to compensate long time-varyingdelays,and the packet reordering in the sensor-to-controller channel is also considered. Moreover, this control solution is validated on a networked visual servo inverted pendulum system, and the control performances are fairly better than the non-predictive control methods
Demirel, Burak. « Architectures and Performance Analysis of Wireless Control Systems ». Doctoral thesis, KTH, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-165767.
Texte intégralQC 20150504
Seuret, Alexandre, Dimos V. Dimarogonas et Karl Henrik Johansson. « Consensus under communication delays ». KTH, Reglerteknik, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-28520.
Texte intégralQC 20110120
Sargolzaei, Arman. « Time-Delay Switch Attack on Networked Control Systems, Effects and Countermeasures ». FIU Digital Commons, 2015. http://digitalcommons.fiu.edu/etd/2175.
Texte intégralNygren, Johannes. « Input-Output Stability Analysis of Networked Control Systems ». Doctoral thesis, Uppsala universitet, Reglerteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-272344.
Texte intégralMkondweni, Ncedo Sandiso. « Design and implementation of linear robust networked control systems ». Thesis, Cape Peninsula University of Technology, 2013. http://hdl.handle.net/20.500.11838/1195.
Texte intégralNetworked Control Systems is a control system where the plant and the controller exchange information via a shared communication network and the network is considered as part of the closed loop control system. Unfortunately the network introduces network induced random varying time delays and data packet loss amongst the communication network imperfections. The network delays are considered to be between the controller and the actuator and between the sensor and the controller. These network imperfections degrade the performance of the closed loop control system and result in closed loop system instability. The complexity of measuring the communication network imperfection in networked control systems makes it difficult for the control engineers to develop methods for design of controllers that can incorporate and compensate these imperfections in order to improve the performance of the networked control systems. In this thesis a co-simulation toolset called LabNS2 is developed to address the first problem of measuring the communication network imperfections by providing an ideal environment that can be used to investigate the influence of network time delays or packet loss. The software environment of the toolset is based on LabVIEWTM and Network Simulator Version 2 (NS2). A new robust predictive optimal controller design method is developed to address the problem of the destabilising effect of the network induced time delay between the controller and the actuator. The design approach is based on time shifting of the optimisation horizon and a state predictor. The design of the controller is based on a model of the plant with delay in the control vector equal to the delay between the controller and the actuator or to the sum of the delays between the controller and the actuator and between the sensor and the controller. The time shifting approach allows the design of the controller to be performed for a model without time delay. Then the control action is based on the future values of the state space vector estimates. The state predictor is developed to predict these future values of the state using the present and past values of the state estimates and control actions. This technique is made possible by the use of the plant model Transition Matrix. A Discrete Kalman Filter is modified to address the problem of the destabilising effect of the network induced time delay between the sensor and the controller. An additional state estimation vector is added to the filter estimate at every current moment of time. iv The developed methods are implemented for networked control of a dish antenna driven by two stepper motors. The outcomes of the thesis can be used for the education and fundamental research purposes, but the developed control strategies have significant sense towards the Square Kilometer Array projects and satellite systems industry.
National Research Foundation
Wang, Bo. « Analysis and implementation of time-delay systems and networked control systems ». Thesis, University of South Wales, 2008. https://pure.southwales.ac.uk/en/studentthesis/analysis-and-implementation-of-timedelay-systems-and-networked-control-systems(f54e4378-db9b-443d-b505-88b4af5bb72a).html.
Texte intégralShi, Xiaohan. « A reliable real-time transport protocol for networked control systems over wireless networks ». Thesis, Queensland University of Technology, 2012. https://eprints.qut.edu.au/60160/1/Xiaohan_Shi_Thesis.pdf.
Texte intégralGui, Li. « A transport protocol for real-time applications in wireless networked control systems ». Thesis, Queensland University of Technology, 2010. https://eprints.qut.edu.au/45460/1/Li_Gui_Thesis.pdf.
Texte intégralMoraes, Vitor Mateus. « Delay-dependent output feedback compensators for a class of networked control systems ». reponame:Repositório Institucional da UFSC, 2014. https://repositorio.ufsc.br/xmlui/handle/123456789/128874.
Texte intégralMade available in DSpace on 2015-02-05T20:26:24Z (GMT). No. of bitstreams: 1 330228.pdf: 1707908 bytes, checksum: e9e7656943afa359919bcdb455b78423 (MD5) Previous issue date: 2014
Sistemas de controle via rede (NCS, do inglês Networked Control Systems) são uma classe especial de sistemas amostrados digitalmente, nos quais os dispositivos do sistema de controle se comunicam através de uma rede de comunicação (como mostrado na Fig. I). Significantes avanços tecnológicos tem levado a um maior interesse tanto na utilização de NCS em ambiente industrial (MOYNE; TILBURY, 2007), quanto em pesquisas relacionadas ao assunto (HESPANHA; NAGHSHTABRIZI; XU,2007; HEEMELS; WOUW, 2010; ZHANG; GAO; KAYNAK, 2013). Algumas das vantagens oferecidas por tais sistemas, com relação a sistemas de controle tradicionais, compreendem menor custo de implementação, flexibilidade e facilidade de manutenção. Apesar disso, inerentemente alguns efeitos indesejados também podem ocorrer, tais como atrasos na comunicação e intervalos de amostragem variantes, ocasionando degradação no desempenho do sistema em malha fechada. Devido a esses efeitos, a análise de estabilidade e também o projeto de controladores para NCS tornam-se mais desafiadores (TANG; YU, 2007). De modo geral, os estudos sobre NCS podem ser divididos em duas grandes áreas: controle da rede e controle via rede (GUPTA; CHOW, 2010). A primeira está mais interessada em proporcionar uma melhor qualidade no serviço de transmissão de dados realizado pela rede de comunicação, enquanto a segunda objetiva uma melhor qualidade do desempenho dos sistemas de controle sob determinadas condições induzidas pelos efeitos da utilização da rede. Embora tipicamente tratadas de forma separada, recentemente alguns esforços têm sido empreendidos de modo a integrar algumas características de ambas as áreas em fase de projeto, as chamadas estratégias de co-design (TORNGREN et al., 2006). Uma abordagem integrada é necessária de modo a se obter uma maior compreensão do funcionamento de um NCS, podendo assim obter um melhor desempenho geral do sistema. Neste contexto, especialmente levando em consideração que o uso rede de comunicação é limitado, tal recurso deve ser corretamente distribuído entre os sistemas de controle de modo a garantir um funcionamento adequado. Além disso, requisitos de desempenho individuais de cada planta também devem ser cumpridos, mesmo sujeitos a tais restrições de limites de recursos.
Abstract: Networked control system (NCS) is a special class of sampled-data system where control systems devices are interconnected through a communication network. Despite the advantages, such as lower cost, flexibility and easy of maintenance compared to a more traditional implementation, some undesired effects may be induced by the use of a shared medium in the feedback loop, for instance, time-varying sampling intervals and delays. Due to the multidisciplinary nature of an NCS, the analysis and design of such systems also demand a more comprehensive approach. Thus, the main objective of this thesis is to propose some strategies for the synthesis of dynamic output feedback compensators, assuming an industrial network control system environment with temporal behavior features and requirements. Throughout this document, the NCS is modeled considering unknown time-varying delays, which leads to an uncertain system representation, later overapproximated by a convex polytope with additional norm-bounded uncertainty. Based on parameter dependent Lyapunov functions, closed-loop stability conditions are provided, which can be verified in terms of feasibility of a set of linear matrix inequalities (LMIs). The control designs are then promptly derived from the stability conditions, leading to delay-dependent compensators. Furthermore, an integrated control design and resource management strategy is proposed, taking into account the controller design while also addressing the shared nature of the communication network. This co-design strategy assumes that a supervisor task has the knowledge of all devices that access the network, as well as their allocated bandwidths. Numerical examples and simulations are provided to illustrate the effectiveness of the proposed design methodologies.
Livres sur le sujet "Networked Control with delays"
Seuret, Alexandre, Laurentiu Hetel, Jamal Daafouz et Karl H. Johansson, dir. Delays and Networked Control Systems. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5.
Texte intégralHuang, Dan, et Sing Kiong Nguang. Robust Control for Uncertain Networked Control Systems with Random Delays. London : Springer London, 2009. http://dx.doi.org/10.1007/978-1-84882-678-6.
Texte intégralKiong, Nguang Sing, et SpringerLink (Online service), dir. Robust control for uncertain networked control systems with random delays. Berlin : Springer Verlag, 2009.
Trouver le texte intégralMayer, Christopher J. Network effects, congestion externalities, and air traffic delays : Or why all delays are not evil. Cambridge, MA : National Bureau of Economic Research, 2002.
Trouver le texte intégralSo, Jimmy Kin Cheong. Delay modeling and controller design for networked control systems. Ottawa : National Library of Canada, 2003.
Trouver le texte intégralWang, Zhanshan, Zhenwei Liu et Chengde Zheng. Qualitative Analysis and Control of Complex Neural Networks with Delays. Berlin, Heidelberg : Springer Berlin Heidelberg, 2016. http://dx.doi.org/10.1007/978-3-662-47484-6.
Texte intégralMaurice, Heemels, et Johansson Mikael, dir. Networked control systems. Berlin : Springer, 2010.
Trouver le texte intégralBemporad, Alberto, Maurice Heemels et Mikael Johansson, dir. Networked Control Systems. London : Springer London, 2010. http://dx.doi.org/10.1007/978-0-85729-033-5.
Texte intégralWang, Fei-Yue, et Derong Liu, dir. Networked Control Systems. London : Springer London, 2008. http://dx.doi.org/10.1007/978-1-84800-215-9.
Texte intégralLi, Zhijun, Yuanqing Xia et Chun-Yi Su. Intelligent Networked Teleoperation Control. Berlin, Heidelberg : Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-46898-2.
Texte intégralChapitres de livres sur le sujet "Networked Control with delays"
Abdelrahim, Mahmoud, Romain Postoyan, Jamal Daafouz et Dragan Nešić. « Output Feedback Event-Triggered Control ». Dans Delays and Networked Control Systems, 113–31. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_7.
Texte intégralIrofti, Dina-Alina, Islam Boussaada et Silviu-Iulian Niculescu. « On the Codimension of the Singularity at the Origin for Networked Delay Systems ». Dans Delays and Networked Control Systems, 3–15. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_1.
Texte intégralLi, Xu-Guang, Arben Çela et Silviu-Iulian Niculescu. « Stabilization of Networked Control Systems with Hyper-Sampling Periods ». Dans Delays and Networked Control Systems, 167–80. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_10.
Texte intégralRubio, Alicia Arce, Alexandre Seuret, Yassine Ariba et Alessio Mannisi. « Optimal Control Strategies for Load Carrying Drones ». Dans Delays and Networked Control Systems, 183–97. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_11.
Texte intégralMillán, Pablo, Luis Orihuela et Isabel Jurado. « Delays in Distributed Estimation and Control over Communication Networks ». Dans Delays and Networked Control Systems, 199–216. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_12.
Texte intégralBragagnolo, Marcos Cesar, Irinel-Constantin Morărescu, Jamal Daafouz et Pierre Riedinger. « Design and Analysis of Reset Strategy for Consensus in Networks with Cluster Pattern ». Dans Delays and Networked Control Systems, 217–31. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_13.
Texte intégralDeshpande, Paresh, Prathyush P. Menon et Christopher Edwards. « Synthesis of Distributed Control Laws for Multi-agent Systems Using Delayed Relative Information with LQR Performance ». Dans Delays and Networked Control Systems, 233–52. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_14.
Texte intégralMorărescu, Irinel-Constantin, et Mirko Fiacchini. « Topology Preservation for Multi-agent Networks : Design and Implementation ». Dans Delays and Networked Control Systems, 253–69. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_15.
Texte intégralDi Loreto, Michael, Sérine Damak et Sabine Mondié. « Stability and Stabilization for Continuous-Time Difference Equations with Distributed Delay ». Dans Delays and Networked Control Systems, 17–36. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_2.
Texte intégralPontes Duff, Igor, Pierre Vuillemin, Charles Poussot-Vassal, Corentin Briat et Cédric Seren. « Model Reduction for Norm Approximation : An Application to Large-Scale Time-Delay Systems ». Dans Delays and Networked Control Systems, 37–55. Cham : Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_3.
Texte intégralActes de conférences sur le sujet "Networked Control with delays"
Ji, Kun, et Won-Jong Kim. « Robust Control for Networked Control Systems With Admissible Parameter Uncertainties ». Dans ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-81551.
Texte intégralMirfakhraie, Tina, Yuping He et Ramiro Liscano. « Wireless Networked Control for Active Trailer Steering Systems of Articulated Vehicles ». Dans ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-36440.
Texte intégralYu, Bo, et Yang Shi. « State Feedback Stabilization of Networked Control Systems With Random Time Delays and Packet Dropout ». Dans ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2191.
Texte intégralLian, Feng-Li, James Moyne et Dawn Tilbury. « Time Delay Modeling and Sample Time Selection for Networked Control Systems ». Dans ASME 2001 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/imece2001/dsc-24539.
Texte intégralLu, Bei. « Probabilistic Design of Networked Control Systems With Uncertain Time Delay ». Dans ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-42829.
Texte intégralZhang, Jie, Yuming Bo, Ming Lv et Dejin Tao. « Fault detection for networked control systems with control delays ». Dans 2010 International Conference on Intelligent Control and Information Processing (ICICIP). IEEE, 2010. http://dx.doi.org/10.1109/icicip.2010.5565217.
Texte intégralLian, F. L., J. R. Moyne et D. M. Tilbury. « Performance Evaluation of Control Networks for Manufacturing Systems ». Dans ASME 1999 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/imece1999-0116.
Texte intégralBelapurkar, Rohit K., et Rama K. Yedavalli. « LQR Control Design of Discrete-Time Networked Cascade Control Systems With Time Delay ». Dans ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASMEDC, 2011. http://dx.doi.org/10.1115/dscc2011-6129.
Texte intégralLu, Lei, Jinxing Lin et Kanglei Ren. « H∞ output tracking control for networked control systems with network-induced delays ». Dans 2018 Chinese Control And Decision Conference (CCDC). IEEE, 2018. http://dx.doi.org/10.1109/ccdc.2018.8407349.
Texte intégralShi, Meifang. « Supervised networked control systems with multiple time delays ». Dans 2011 23rd Chinese Control and Decision Conference (CCDC). IEEE, 2011. http://dx.doi.org/10.1109/ccdc.2011.5968602.
Texte intégralRapports d'organisations sur le sujet "Networked Control with delays"
Lemmon, Michael. Supervisory Control of Networked Control Systems. Fort Belvoir, VA : Defense Technical Information Center, janvier 2006. http://dx.doi.org/10.21236/ada442404.
Texte intégralBarber, D. VCS : A networked version control system. Office of Scientific and Technical Information (OSTI), février 1990. http://dx.doi.org/10.2172/6930725.
Texte intégralBaliga, Girish, Scott R. Graham, Lui Sha et P. R. Kumar. Service Continuity in Networked Control Using Etherware. Fort Belvoir, VA : Defense Technical Information Center, janvier 2004. http://dx.doi.org/10.21236/ada424768.
Texte intégralBitmead, Robert R. Control and Information Architecture for Coordinated Networked Systems. Fort Belvoir, VA : Defense Technical Information Center, août 2009. http://dx.doi.org/10.21236/ada512939.
Texte intégralWood, Scott D. Cooperative Interface Agents for Networked Command, Control, and Communications (CIANC3). Fort Belvoir, VA : Defense Technical Information Center, avril 2003. http://dx.doi.org/10.21236/ada414232.
Texte intégralGraham, Scott R. Fault Tolerance in Networked Control Systems Through Real-Time Restarts. Fort Belvoir, VA : Defense Technical Information Center, juillet 2004. http://dx.doi.org/10.21236/ada425652.
Texte intégralDullerud, Geir E., Francesco Bullo, Eric Feron, Emilio Frazzoli, P. R. Kumar, Sanjay Lall, Daniel Liberzon, Nancy A. Lynch, John C. Mitchell et Sanjoy K. Mitter. Cooperative Networked Control of Dynamical Peer-to-Peer Vehicle Systems. Fort Belvoir, VA : Defense Technical Information Center, décembre 2007. http://dx.doi.org/10.21236/ada475557.
Texte intégralGraham, Scott R., Sumant Kowshik, Girish Baliga, Lui Sha et Marco Caccamo. Co-Design of Real-Time Communication and Control in a Wireless Networked Control System. Fort Belvoir, VA : Defense Technical Information Center, juillet 2004. http://dx.doi.org/10.21236/ada425008.
Texte intégralLewis, Frank L., Greg Hudas, Chee K. Pang, Matthew B. Middleton et Christopher Mcmurrough. Discrete Event Command & ; Control for Networked Teams with Multiple Missions. Fort Belvoir, VA : Defense Technical Information Center, mars 2009. http://dx.doi.org/10.21236/ada496792.
Texte intégralOlmo, Frank J. Command and Control in Joint Vision 2010 : Flexible, Adaptive and Networked. Fort Belvoir, VA : Defense Technical Information Center, février 1999. http://dx.doi.org/10.21236/ada363260.
Texte intégral