MixedH₂/H_∞distributed robust model predictive control for polytopic uncertain systems subject to actuator saturation and missing measurements

Abstract

In this paper, we discuss the mixed H 2 /H ∞ distributed robust model predictive control problem for polytopic uncertain systems subject to randomly occurring actuator saturation and packet loss. The global system is decomposed into several subsystems, and all the subsystems are connected by a fixed topology network, which is the definition for the packet loss among the subsystems. To better use the successfully transmitted information via Internet, both the phenomena of actuator saturation and packet loss resulting from the limitation of the communication bandwidth are taken into consideration. A novel distributed controller model is established to account for the actuator saturation and packet loss in a unified representation by using two sets of Bernoulli distributed white sequences with known conditional probabilities. With the nonlinear feedback control law represented by the convex hull of a group of linear feedback laws, the distributed controllers for subsystems are obtained by solving an linear matrix inequality (LMI) optimisation problem. Finally, numerical studies demonstrate the effectiveness of the proposed techniques.

Delay-partitioning approach design for stochastic stability analysis of uncertain neutral-type neural networks with Markovian jumping parameters

“…Similar to the analysis in the Proof of Theorem 3.1, one can obtain the above results of Corollary 3.1. ,J j > 0 j = (1, 2, 3, 4),Z 1 > 0,Z 2 > 0,Z 1i > 0,Z 2i > 0 ,T > 0,T i > 0 ,Λ * jp j = (1, 2, .., m), p = (1, 2, ..., 2m + 3l + q + 10),N 1i ,N 2i ,N 4i ,M i1 ,M i2 ,M i3 ,M i4 ,P 1 , P 2 ,H 1 , H 2 ,Q 1 , Q 2 , positive definite diagonal matrices K 1 , K 2 , L 1 , L 2 such that (12)- (14),(16)-(17) and the following LMIs hold…”

“…Furthermore, the neutral-type systems have been always investigated, because that the past state of the network affect on the current state. Due to the existence of parameter variations, modeling errors and process uncertainties, stability analysis of neutral uncertainties systems has gained a lot of attention [12][13][14].…”

Distributed model predictive control for multi-agent systems with packet loss and actuator saturation

“…As one of the most significant factors for reducing performance or even destroying stability of systems, packet loss has attracted tremendous attention in the past few years, while the distributive MPC for system with packet loss is largely overlooked. Fortunately, there are still some valuable results can be found in 29,30,31,32,33 . 29 proposed a novel distributed MPC scheme to achieve leader-follower formation control of MASs subject to packet loss.…”

“…The consensus and stability problem of MASs with packet loss and time-delay was studied in 30 . Assuming that packet loss obeyed a Bernoulli distribution with the probability being known, the distributed MPC and mixed 2 ∕ ∞ distributed robust MPC were investigated in 31 and 32 , respectively. 33 studied distributed output feedback MPC for uncertain systems where the packet loss was taken into accounted.…”

Generalized predictive control of the aircraft system with actuator saturation to prevent Pilot-induced Oscillations

“…In (Kassaeiyan et al, 2019) two methods of Linear MPC and Nonlinear MPC are designed to control the path tracking of the robotic system with considering the saturation range of the actuator. In (Song et al, 2016), an H 2 /H ∞ distributed robust MPC is proposed for uncertain systems, and both actuator rate saturation and packet loss were considered. In these researches, different methods of MPC have been proposed to deal with saturation, but only some of them have precisely investigated the PIO phenomenon using MPC.…”