The problem of stabilization to the trivial equilibrium of a system with communication constraints is addressed. The communication constraints are related to the fact that commands are issued to different groups of actuators through a shared resource. We tackle the problem by using a Model Predictive Control scheme, which,at every step, decides the allocation of the bus {\em and} he control command values. After discussing two different alternatives for dealing with the scheduling constraints, we develop a formulation based on the generalized linear complementarity problem, which enables the application of efficient numerical solutions. Finally, we give some preliminary result on the parametric dependence of the problem's solution from the system's state.

10aEmbedded Control10aRobotics1 aPalopoli, L1 aBicchi, A.1 aSangiovanni-Vincentelli, A L uhttp://www.centropiaggio.unipi.it/publications/numerically-efficient-control-systems-communication-constraints.html