Sparse and constrained stochastic predictive control for networked systems
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Publication:680489
DOI10.1016/J.AUTOMATICA.2017.09.013zbMATH Open1378.93151arXiv1706.01792OpenAlexW2623116339MaRDI QIDQ680489FDOQ680489
Debasish Chatterjee, Daniel E. Quevedo, Prabhat K. Mishra
Publication date: 23 January 2018
Published in: Automatica (Search for Journal in Brave)
Abstract: This article presents a novel class of control policies for networked control of Lyapunov-stable linear systems with bounded inputs. The control channel is assumed to have i.i.d. Bernoulli packet dropouts and the system is assumed to be affected by additive stochastic noise. Our proposed class of policies is affine in the past dropouts and saturated values of the past disturbances. We further consider a regularization term in a quadratic performance index to promote sparsity in control. We demonstrate how to augment the underlying optimization problem with a constant negative drift constraint to ensure mean-square boundedness of the closed-loop states, yielding a convex quadratic program to be solved periodically online. The states of the closed-loop plant under the receding horizon implementation of the proposed class of policies are mean square bounded for any positive bound on the control and any non-zero probability of successful transmission.
Full work available at URL: https://arxiv.org/abs/1706.01792
sparsitymultiplicative noiseerasure channelnetworked systemunreliable channelstochastic predictive control
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