Model predictive control for constrained networked systems subject to data losses

Abstract

The paper addresses the stabilization problem for constrained control systems where both plant measurements and command signals in the loop are sent through communication channels subject to time-varying delays and data losses. A novel receding horizon strategy is proposed by resorting to an uncertain polytopic linear plant framework. Sequences of pre-computed inner approximations of the one-step controllable sets are on-line exploited as target sets for selecting the commands to be applied to the plant in a receding horizon fashion. The communication channel effects are taken into account by resorting to both Independent-of-Delay and Delay-Dependent stability concepts that are used to initialize the one-step controllable sequences. The resulting framework guarantees Uniformly Ultimate Boundedness and constraints fulfilment of the regulated trajectory regardless of plant uncertainties and data loss occurrences.