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LQR-output feedback gain scheduling of mobile networked controlled systems

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2 Author(s)
A. Tzes ; Dept. of Electr. & Comput. Eng., Patras Univ., Greece ; G. Nikolakopoulos

In this article, a time-varying controller for a mobile networked controlled system is designed. The controller architecture relies on an LQR-output feedback scheme. The parameters of the LQR-based cost are adjusted according to the communication latency. The tuning of these weights is accomplished via an LMI-approach, where the objective is to provide a closed-loop system with a specific prescribed stability despite the current measured data-packet transmission-delay. The overall scheme resembles that of a gain-scheduled controller, where the tuning of its gains indirectly depends on the communication latency. Experimental results are offered to highlight the efficacy of the proposed scheme.

Published in:

American Control Conference, 2004. Proceedings of the 2004  (Volume:5 )

Date of Conference:

June 30 2004-July 2 2004