Robust Output Feedback MPC for LPV Systems Using Interval Observers

• 成果类型: Article
• 署名作者: dos Reis de Souza, Alex; Efimov, Denis; Raissi, Tarek
• 署名单位: Centre National de la Recherche Scientifique (CNRS); CNRS - Institute for Information Sciences & Technologies (INS2I); Universite de Lille; Centrale Lille; ITMO University; heSam Universite; Conservatoire National Arts & Metiers (CNAM)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3099449
• 发表日期: 2022
• 页码: 3188-3195
• 关键词: Output feedback; observers; Symmetric matrices; Linear systems; IP networks; uncertainty; estimation error; Output feedback; Predictive control; Robust control

摘要

This article addresses the problem of robust output feedback model predictive control for discrete-time, constrained, linear parameter-varying systems subject to (bounded) state and measurement disturbances. The vector of scheduling parameters is assumed to be an unmeasurable signal taking values in a given compact set. The proposed controller incorporates an interval observer, that uses the available measurement to update the set-membership estimation of the states, and an interval predictor, used in the prediction step of the model predictive control (MPC) algorithm. The resulting MPC scheme offers guarantees on recursive feasibility, constraint satisfaction, and input-to-state stability in the terminal set. Furthermore, this novel algorithm shows low computation complexity and ease of implementation (similar to conventional MPC schemes).