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.
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|Titolo:||A networked-based receding horizon scheme for constrained LPV systems|
LUCIA, Walter (Corresponding)
|Data di pubblicazione:||2015|
|Appare nelle tipologie:||1.1 Articolo in rivista|