Receding-horizon control and scheduling of systems with uncertain computation and communication delays

This paper addresses robust control and scheduling codesign for networked embedded control systems (NECS) with uncertain but interval-bounded time-varying computation and communication delays. The NECS is modeled as a discrete-time switched linear system with polytopic uncertainty. A robust receding-horizon control and scheduling problem with a quadratic performance criterion is introduced and solved based on the concept of (relaxed) dynamic programming. Closed-loop stability is guaranteed a priori by imposing stability constraints formulated as linear matrix inequalities. The effectiveness of the proposed modeling and synthesis methods is evaluated for networked embedded control of a set of pendulums. Notably, the proposed strategy is generally applicable to discrete-time switched linear systems with polytopic uncertainty.