Conference item
Output feedback stochastic MPC with packet losses
- Abstract:
- The paper considers constrained linear systems with stochastic additive disturbances and noisy measurements transmitted over a lossy communication channel. We propose a model predictive control (MPC) law that minimizes a discounted cost subject to a discounted expectation constraint. Sensor data is assumed to be lost with known probability, and data losses are accounted for by expressing the predicted control policy as an affine function of future observations, which results in a convex optimal control problem. An online constrainttightening technique ensures recursive feasibility of the online optimization and satisfaction of the expectation constraint without bounds on the distributions of the noise and disturbance inputs. The cost evaluated along trajectories of the closed loop system is shown to be bounded by the optimal predicted cost. A numerical example is given to illustrate these results.
- Publication status:
- Published
- Peer review status:
- Peer reviewed
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Access Document
- Files:
-
-
(Preview, Accepted manuscript, 226.3KB, Terms of use)
-
- Publisher copy:
- 10.1016/j.ifacol.2020.12.506
Authors
Bibliographic Details
- Publisher:
- Elsevier
- Journal:
- IFAC-PapersOnLine More from this journal
- Volume:
- 53
- Issue:
- 2
- Pages:
- 7105-7110
- Publication date:
- 2021-04-14
- Acceptance date:
- 2020-02-27
- Event title:
- 21st IFAC World Congress
- Event location:
- Berlin, Germany
- Event website:
- https://www.ifac2020.org/
- Event start date:
- 2020-07-12
- Event end date:
- 2020-07-17
- DOI:
- ISSN:
-
2405-8963
Item Description
- Language:
-
English
- Keywords:
- Pubs id:
-
1090535
- Local pid:
-
pubs:1090535
- Deposit date:
-
2020-04-06
Terms of use
- Copyright holder:
- IFAC.
- Copyright date:
- 2021
- Rights statement:
- © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd.
- Notes:
- This paper was presented at the 21st IFAC World Congress, 11th-17th July 2020, Germany. This is the accepted manuscript version of the article. The final version is available from Elsevier at: https://doi.org/10.1016/j.ifacol.2020.12.506
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