LQR-output feedback gain scheduling of mobile networked controlled systems

Antonios 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
Volume5
DOIs
StatePublished - Nov 29 2004
EventProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
Duration: Jun 30 2004Jul 2 2004

Other

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

Fingerprint

Scheduling
Feedback
Controllers
Tuning
Communication
Closed loop systems
Costs

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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) (Vol. 5, pp. 4325-4329) https://doi.org/10.1109/ACC.2004.182629

LQR-output feedback gain scheduling of mobile networked controlled systems. / Tzes, Antonios; Nikolakopoulos, George.

Proceedings of the 2004 American Control Conference (AAC). Vol. 5 2004. p. 4325-4329.

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

Tzes, A & Nikolakopoulos, G 2004, LQR-output feedback gain scheduling of mobile networked controlled systems. in Proceedings of the 2004 American Control Conference (AAC). 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
Tzes A, Nikolakopoulos G. LQR-output feedback gain scheduling of mobile networked controlled systems. In Proceedings of the 2004 American Control Conference (AAC). Vol. 5. 2004. p. 4325-4329 https://doi.org/10.1109/ACC.2004.182629
Tzes, Antonios ; Nikolakopoulos, George. / LQR-output feedback gain scheduling of mobile networked controlled systems. Proceedings of the 2004 American Control Conference (AAC). Vol. 5 2004. pp. 4325-4329
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