Networked Control Systems: A Polynomial Receding Horizon Approach

A receding horizon control strategy for nonlinear networked control systems described by polynomial models subject to input, state, and communication constraints is presented. By resorting to a set-theoretic framework, sequences of precomputed inner approximations of the one-step controllable sets are online exploited to compute the commands to be applied to the plant in a receding horizon fashion. The key aim is to present sum-of-squares conditions under which the one-step controllable sets for nonlinear polynomial systems subject to time-delay phenomena on the transmitted signals can be offline computed. Specifically, the communication channel effects are taken into account by considering independent-of-delay and delay-dependent stability concepts that are used to initialize the one-step controllable sequences. Feasibility, asymptotic closed-loop stability, and constraints fulfilment regardless of any bounded time delay occurrences are formally proved. Finally, experimental results on a laboratory two-tank testbed show the effectiveness of the proposed approach.