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.
A networked-based receding horizon scheme for constrained LPV systems
Lucia, Walter
;Tedesco, Francesco
2015-01-01
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
