Nonlinear predictive control of networked systems with delays and packet dropouts

This paper studies the nonlinear model predictive control problem (MPC) for networked control system (NCS) with delays in both channels. To compensate for the delays and reduce the computation, we first transform the NCS with delays into a non-delay system. Moreover, an explicit feedback control strategy is applied to provide a possible implementation for package lost and the delays. To avoid the prohibitively high online computational demand, the nonlinear MPC scheme is applied and the original problem is reduced to the nonlinear-quadratic regulator problem for an off-line system on every sampling time based on a vector iterative approximation approach. The validity of the proposed approaches is illustrated by a numerical example.