Resilient RMPC for polytopic uncertain systems under TOD protocol: A switched system approach

Abstract

Summary This paper addresses the resilient robust model predictive control (RMPC) problem for a class of polytopic uncertain systems under the try‐once‐discard (TOD) protocol. At each transmission instant, only one sensor node obtains the privilege to access the shared communication network in order to prevent the data from collision. The measurements transmission order of the sensor nodes is orchestrated, and a switched system is constructed according to the underlying TOD protocol. The aim of this paper is to design a set of desired resilient dynamic output feedback controllers in the framework RMPC such that the switched system with the underlying TOD protocol is exponentially stable. By taking the influence of the TOD protocol into account, sufficient conditions are provided to guarantee the recursive feasibility of the RMPC strategy and the stability of the established closed‐loop system in terms of the average dwell time method. Moreover, the effective resilient controllers in RMPC framework are derived by solving an online constrained optimization problem. Finally, a network‐based direct current motor example is utilized to illustrate the effectiveness of the proposed model predictive control strategy.

Robust model predictive control for polytopic uncertain systems with state saturation nonlinearities under Round‐Robin protocol

“…To conclude, (17) and (28) ensure condition C1. Next, we will work on condition C2 of the terminal constraint set.…”

“…Note that the aforementioned MPC strategies for nominal systems might be invalid for systems with parameter uncertainties. It is, therefore, vitally important to develop some new MPC strategies to guarantee the system robustness against the parameter uncertainties, which readily gives rise to the robust MPC (RMPC) . In recent years, RMPC has become an attractive research topic and many efforts have been made …”

“…It is, therefore, vitally important to develop some new MPC strategies to guarantee the system robustness against the parameter uncertainties, which readily gives rise to the robust MPC (RMPC). [10][11][12][13][14][15][16][17] In recent years, RMPC has become an attractive research topic and many efforts have been made. [18][19][20][21][22][23][24][25][26] In the practical engineering, due mainly to the physical limitations of system components, the obstacles via data transmission often stem from the state/actuator saturation, which is often characterized by a certain bounded set.…”

Dynamic output‐feedback fuzzy MPC for Takagi‐Sugeno fuzzy systems under event‐triggering–based try‐once‐discard protocol

“…Such a calculation process is constantly repeated to design controllers through solving the new optimization problem constructed by the current measurements. In past few years, MPC has gained much attention in the control community, and some great results of MPC for linear or nonlinear systems have been reported in literatures . In the industrial engineering, most of the controlled plants are with strong nonlinearities and hard constraints.…”

“…In past few years, MPC has gained much attention in the control community, and some great results of MPC for linear or nonlinear systems have been reported in literatures. [7][8][9][10] In the industrial engineering, most of the controlled plants are with strong nonlinearities and hard constraints. Thus, it is important to develop a good MPC strategy for nonlinear systems with hard constraints.…”