A receding horizon scheme for discrete-time polytopic linear parameter varying systems in networked architectures

European Workshop on Advanced Control and Diagnosis

Franzè, Giuseppe^1 ; Lucia, Walter^1 ; Tedesco, Francesco^1

Università della Calabria, DIMES, Via Pietro Bucci, Cubo 42-C, Rende (CS)

87036, Italy^1

关键词: Input and state constraints;    Linear parameter varying systems;    Plant measurement;    Plant uncertainty;    Receding horizon;    Receding horizon control;    Regulation problems;    Time varying- delays;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/570/3/032001/pdf
DOI  :  10.1088/1742-6596/570/3/032001

来源: IOP

【 摘 要 】

This paper proposes a Model Predictive Control (MPC) strategy to address regulation problems for constrained polytopic Linear Parameter Varying (LPV) systems subject to input and state constraints in which both plant measurements and command signals in the loop are sent through communication channels subject to time-varying delays (Networked Control System (NCS)). The results here proposed represent a significant extension to the LPV framework of a recent Receding Horizon Control (RHC) scheme developed for the so-called robust case. By exploiting the parameter availability, the pre-computed sequences of one- step controllable sets inner approximations are less conservative than the robust counterpart. The resulting framework guarantees asymptotic stability and constraints fulfilment regardless of plant uncertainties and time-delay occurrences. Finally, experimental results on a laboratory two-tank test-bed show the effectiveness of the proposed approach.