LQR-output feedback gain scheduling of mobile networked controlled systems

Anthony Tzes; George Nikolakopoulos

doi:10.1109/ACC.2004.182629

LQR-output feedback gain scheduling of mobile networked controlled systems

Anthony Tzes, George Nikolakopoulos

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English (US)
Title of host publication	Proceedings of the 2004 American Control Conference (AAC)
Pages	4325-4329
Number of pages	5
DOIs	https://doi.org/10.1109/ACC.2004.182629
State	Published - 2004
Event	Proceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States Duration: Jun 30 2004 → Jul 2 2004

Publication series

Name	Proceedings of the American Control Conference
Volume	5
ISSN (Print)	0743-1619

Other

Other	Proceedings of the 2004 American Control Conference (AAC)
Country/Territory	United States
City	Boston, MA
Period	6/30/04 → 7/2/04

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2004.182629

Cite this

Tzes, A & Nikolakopoulos, G 2004, LQR-output feedback gain scheduling of mobile networked controlled systems. in Proceedings of the 2004 American Control Conference (AAC). Proceedings of the American Control Conference, vol. 5, pp. 4325-4329, Proceedings of the 2004 American Control Conference (AAC), Boston, MA, United States, 6/30/04. https://doi.org/10.1109/ACC.2004.182629

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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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LQR-output feedback gain scheduling of mobile networked controlled systems

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