### 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 language | English (US) |
---|---|

Title of host publication | Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC |

Pages | 4993-4998 |

Number of pages | 6 |

State | Published - Dec 1 2006 |

Event | 45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States Duration: Dec 13 2006 → Dec 15 2006 |

### Other

Other | 45th IEEE Conference on Decision and Control 2006, CDC |
---|---|

Country | United States |

City | San Diego, CA |

Period | 12/13/06 → 12/15/06 |

### Fingerprint

### 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

*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.

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

*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.

}

TY - GEN

T1 - Constrained Optimal Control over networks with uncertain delays

AU - Dritsas, Leonidas

AU - Nikolakopoulos, George

AU - Tzes, Antonios

PY - 2006/12/1

Y1 - 2006/12/1

N2 - 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.

AB - 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.

KW - Constrained finite time control

KW - Delayed systems

KW - Networked controlled system

KW - Polytopic uncertain systems

UR - http://www.scopus.com/inward/record.url?scp=39649094134&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=39649094134&partnerID=8YFLogxK

M3 - Conference contribution

SN - 1424401712

SN - 9781424401710

SP - 4993

EP - 4998

BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC

ER -