TY - GEN
T1 - LQR-output feedback gain scheduling of mobile networked controlled systems
AU - Tzes, Anthony
AU - Nikolakopoulos, George
PY - 2004
Y1 - 2004
N2 - 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 speci□c 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 ef□cacy of the proposed scheme.
AB - 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 speci□c 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 ef□cacy of the proposed scheme.
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U2 - 10.1109/ACC.2004.182629
DO - 10.1109/ACC.2004.182629
M3 - Conference contribution
AN - SCOPUS:8744285478
SN - 0780383354
T3 - Proceedings of the American Control Conference
SP - 4325
EP - 4329
BT - Proceedings of the 2004 American Control Conference (AAC)
T2 - Proceedings of the 2004 American Control Conference (AAC)
Y2 - 30 June 2004 through 2 July 2004
ER -