Constrained Optimal Control over networks with uncertain delays

Leonidas Dritsas, George Nikolakopoulos, Antonios Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this article a Constrained Finite Time Optimal Controller (CFTOC) for Networked Controlled Systems (NCS) is presented for the case where: a) the induced network delays are uncertain and bounded, and b) there are constraints in the magnitude of the control action and the outputs/states of the system. Based on the assumption that the round-trip latency time varies within known bounds, the uncertain network-induced delays are embedded in the system model resulting in a polytopic uncertain system. A polytopic uncertain system model is developed for the cases where: a) the uncertain delay is smaller than the sampling period, and b) the delay is longer than one sampling period but can be decomposed into a fixed known part (integer multiple of the sampling period) and an uncertain part bounded by one sampling period. When the constraints on the input and the output/state are added, the control objectives can be cast in a CFTOC formulation, and the resulting affine control law guarantees both the robust stability and the robust performance of the closed loop system, while satisfying the constraints. Simulation results are presented that prove the efficacy of the proposed control scheme.

Original languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Pages4993-4998
Number of pages6
StatePublished - Dec 1 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
CountryUnited States
CitySan Diego, CA
Period12/13/0612/15/06

Fingerprint

Constrained Control
Optimal Control
Sampling
Network-induced Delay
Uncertain systems
Uncertain Systems
Controller
Controllers
Robust Performance
Output
Robust Stability
Closed loop systems
Closed-loop System
Latency
Efficacy
Vary
Integer
Formulation
Model
Simulation

Keywords

  • Constrained finite time control
  • Delayed systems
  • Networked controlled system
  • Polytopic uncertain systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Dritsas, L., Nikolakopoulos, G., & Tzes, A. (2006). Constrained Optimal Control over networks with uncertain delays. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 4993-4998). [4177829]

Constrained Optimal Control over networks with uncertain delays. / Dritsas, Leonidas; Nikolakopoulos, George; Tzes, Antonios.

Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. 2006. p. 4993-4998 4177829.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Dritsas, L, Nikolakopoulos, G & Tzes, A 2006, Constrained Optimal Control over networks with uncertain delays. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177829, pp. 4993-4998, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 12/13/06.
Dritsas L, Nikolakopoulos G, Tzes A. Constrained Optimal Control over networks with uncertain delays. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. 2006. p. 4993-4998. 4177829
Dritsas, Leonidas ; Nikolakopoulos, George ; Tzes, Antonios. / Constrained Optimal Control over networks with uncertain delays. Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. 2006. pp. 4993-4998
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