Resumo:
This work addresses the control of dynamic systems subject to time-varying delays, considering parametric model uncertainties in scenarios with known but varying future references. A method is proposed that combines a stability criterion for systems with time-varying delays and modeling uncertainties with a predictive controller for linear systems, whose formulation explicitly incorporates future references. The objective is to ensure robustness against time-varying delays induced by communication networks, considering model uncertainties and reference variations. To this end, a new simplified robust stability criterion is formulated for systems with time-varying delays and polytopic uncertainties. The effectiveness of the method is evaluated through simulations with mobile robots subject to time-varying delays and modeling uncertainties. The results provide guidelines for configuring the predictive controller parameters, demonstrating its applicability and effectiveness in the context of mobile robotics.
