Title :
Networked Control Systems: A Polynomial Receding Horizon Approach
Author :
Franze, Giuseppe ; Tedesco, Francesco
Author_Institution :
DIMES, Univ. della Calabria, Rende, Italy
Abstract :
A receding horizon control strategy for nonlinear networked control systems described by polynomial models subject to input, state, and communication constraints is presented. By resorting to a set-theoretic framework, sequences of precomputed inner approximations of the one-step controllable sets are online exploited to compute the commands to be applied to the plant in a receding horizon fashion. The key aim is to present sum-of-squares conditions under which the one-step controllable sets for nonlinear polynomial systems subject to time-delay phenomena on the transmitted signals can be offline computed. Specifically, the communication channel effects are taken into account by considering independent-of-delay and delay-dependent stability concepts that are used to initialize the one-step controllable sequences. Feasibility, asymptotic closed-loop stability, and constraints fulfilment regardless of any bounded time delay occurrences are formally proved. Finally, experimental results on a laboratory two-tank testbed show the effectiveness of the proposed approach.
Keywords :
asymptotic stability; closed loop systems; controllability; delays; networked control systems; nonlinear systems; optimal control; set theory; telecommunication channels; asymptotic closed-loop stability; bounded time delay; communication channel effects; communication constraints; delay-dependent stability concepts; independent-of-delay stability concepts; nonlinear networked control systems; nonlinear polynomial systems; one-step controllable sequences; one-step controllable sets; polynomial models; polynomial receding horizon approach; receding horizon control strategy; set-theoretic framework; sum-of-squares conditions; time-delay phenomena; Networked control systems; Nonlinear systems; Polynomials; Stability analysis; Time-varying systems; Networked control systems; nonlinear systems; receding horizon approach; sum of squares;
Journal_Title :
Control of Network Systems, IEEE Transactions on
DOI :
10.1109/TCNS.2014.2357502