A networked-based MPC architecture for constrained LPV systems

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Regulation problems for networked constrained polytopic Linear Parameter Varying (LPV) systems are considered. It is assumed that the communication network is subject to latency effects which result in induced time-varying time-delays on both the control and measurement channels. A novel LPV customization of a recent Receding-Horizon control (RHC) scheme developed for polytopic uncertain linear systems is here proposed. It exploits the LPV scheduling parameter availability for pre-computing nested families of one-step ahead controllable ellipsoidal sets, which are significantly less conservative than their robust counterparts. Finally, simulation results concerning the constrained regulation of a unicycle-type mobile robot are reported to show the effectiveness and the benefits of the proposed control scheme.




Casavola, A., Lucia, W., & Tedesco, F. (2015). A networked-based MPC architecture for constrained LPV systems. IFAC-PapersOnLine, 48(26), 158–163. https://doi.org/10.1016/j.ifacol.2015.11.130

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