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Robust Output Feedback MPC: An Interval-Observer Approach

Alex Reis de Souza 1 Denis Efimov 1 Tarek Raissi 2 Xubin Ping 3
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 (CRIStAL) - UMR 9189
Abstract : In this work, we address the problem of output-feedback Model Predictive Control (MPC) of constrained, linear, discrete-time systems corrupted by additive perturbations on both state and output. The use of estimated variables in MPC is challenging and computationally expensive due to constraint satisfaction. To overcome this issue, the proposed approach incorporates interval observers on the MPC scheme to cope with uncertainty, leading to a novel, simple and very intuitive methodology providing robust constraint satisfaction with reduced computational complexity.
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https://hal.inria.fr/hal-02909626
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Submitted on : Thursday, July 30, 2020 - 5:41:01 PM
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Alex Reis de Souza, Denis Efimov, Tarek Raissi, Xubin Ping. Robust Output Feedback MPC: An Interval-Observer Approach. Proc. IEEE CDC 2020, Dec 2020, Jeju Island, South Korea. ⟨hal-02909626⟩

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