LQR-output feedback gain scheduling of mobile networked controlled systems

Anthony Tzes, George Nikolakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationProceedings of the 2004 American Control Conference (AAC)
Pages4325-4329
Number of pages5
DOIs
StatePublished - 2004
EventProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
Duration: Jun 30 2004Jul 2 2004

Publication series

NameProceedings of the American Control Conference
Volume5
ISSN (Print)0743-1619

Other

OtherProceedings of the 2004 American Control Conference (AAC)
CountryUnited States
CityBoston, MA
Period6/30/047/2/04

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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