Stochastic predictive control under intermittent observations and unreliable actions

DOI10.1016/J.AUTOMATICA.2020.109012zbMATH Open1447.93376arXiv1911.03617OpenAlexW3027999846MaRDI QIDQ2188251FDOQ2188251

Authors: Prabhat K. Mishra, Debasish Chatterjee, Daniel E. Quevedo 

Publication date: 10 June 2020

Published in: Automatica (Search for Journal in Brave)

Abstract: We propose a provably stabilizing and tractable approach for control of constrained linear systems under intermittent observations and unreliable transmissions of control commands. A smart sensor equipped with a Kalman filter is employed for the estimation of the states from incomplete and corrupt measurements, and an estimator at the controller side optimally feeds the intermittently received sensor data to the controller. The remote controller iteratively solves constrained stochastic optimal control problems and transmits the control commands according to a carefully designed transmission protocol through an unreliable channel. We present a (globally) recursively feasible quadratic program, which is solved online to yield a stabilizing controller for Lyapunov stable linear time invariant systems under any positive bound on control values and any non-zero transmission probabilities of Bernoulli channels.

Full work available at URL: https://arxiv.org/abs/1911.03617

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zbMATH Keywords

optimal estimationnetworked systemsstochastic controlpredictive controlnoisy channelsrecursive approaches

Mathematics Subject Classification ID

Discrete-time control/observation systems (93C55) Optimal stochastic control (93E20) Networked control (93B70) Model predictive control (93B45)

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Cited In (4)

• Reference tracking stochastic model predictive control over unreliable channels and bounded control actions
• Event-triggered predictive control of nonlinear stochastic systems with output delay
• Stochastic output feedback MPC with intermittent observations
• Minimum variance constrained estimator

Uses Software

• SDPT3
• YALMIP

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