A networked-based receding horizon scheme for constrained LPV systems

作者：Lucia Walter^*; Tedesco Francesco

来源：European Journal of Control, 2015, 25: 69-75.

DOI：10.1016/j.ejcon.2015.07.002

• Networked control systems
• LPV model
• Receding horizon control
• Set-theoretic approach

This paper deals with control problems for networked constrained polytopic Linear Parameter Varying (LPV) systems. A novel LPV customization of a recent Receding Horizon robust Control (RHC) scheme developed for polytopic uncertainty systems is here proposed for the case where command inputs and state measurement are subject to time-varying delays. By taking advantage of the flexibility of the LPV structure, families of precomputed one-step controllable sets are off-line computed which result less conservative with respect to their robust counterparts. Finally, simulation results involving the constrained tracking problem of an unicycle-type mobile robot are reported to show the effectiveness and the benefits of the proposed control scheme.

• 出版日期2015-9