TitleNumerically efficient control of systems with communication constraints
Publication TypeConference Paper
Year of Publication2002
Conference NameProc. IEEE Int. Conf. on Decision and Control
Date PublishedDecember
Publication Languageeng
AuthorsPalopoli, L, Bicchi, A, Sangiovanni-Vincentelli, AL
KeywordsEmbedded Control, Robotics

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.