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Robust output feedback MPC of time-delayed systems using interval observers

Denis Efimov 1 Alex Reis de Souza 1 Tarek Raïssi 2 
1 VALSE - Finite-time control and estimation for distributed systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
2 CEDRIC - LAETITIA - CEDRIC. Traitement du signal et architectures électroniques
CEDRIC - Centre d'études et de recherche en informatique et communications
Abstract : This work addresses the problem of robust output feedback model predictive control (MPC) of constrained, discrete-time, time-delayed linear systems subject to (bounded) additive disturbances. The proposed predictive controller incorporates an interval observer, that exploits the available measurement to update the setmembership of the system states, and an interval predictor, used in the prediction step of the MPC. The proposed algorithm is similar to conventional MPC for linear systems, offering guarantees on recursive feasibility and robust constraint satisfaction, with low computational complexity. Furthermore, the delay is explicitly taken into account in the design, and the obtained scheme easily encompasses delays on the state, on the measurement or the control input.
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https://hal.inria.fr/hal-03385020
Contributor : Denis Efimov Connect in order to contact the contributor
Submitted on : Tuesday, October 19, 2021 - 12:05:10 PM
Last modification on : Tuesday, November 22, 2022 - 2:26:16 PM
Long-term archiving on: : Thursday, January 20, 2022 - 6:52:06 PM

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Denis Efimov, Alex Reis de Souza, Tarek Raïssi. Robust output feedback MPC of time-delayed systems using interval observers. International Journal of Robust and Nonlinear Control, In press, ⟨10.1002/rnc.5874⟩. ⟨hal-03385020⟩

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