A networked-based MPC architecture for constrained LPV systems

Regulation problems for networked constrained polytopic Linear Parameter Varying (LPV) systems are considered. It is assumed that the communication network is subject to latency effects which result in induced time-varying time-delays on both the control and measurement channels. A novel LPV customization of a recent Receding-Horizon control (RHC) scheme developed for polytopic uncertain linear systems is here proposed. It exploits the LPV scheduling parameter availability for pre-computing nested families of one-step ahead controllable ellipsoidal sets, which are significantly less conservative than their robust counterparts. Finally, simulation results concerning the constrained regulation of a unicycle-type mobile robot are reported to show the effectiveness and the benefits of the proposed control scheme.