Combined control and communication scheduling for constrained system using robust output feedback MPC
- Resource Type
- Conference
- Authors
- Kogel, Markus; Quevedo, Daniel; Findeisen, Rolf
- Source
- 2019 18th European Control Conference (ECC) Control Conference (ECC), 2019 18th European. :1778-1783 Jun, 2019
- Subject
- Robotics and Control Systems
- Language
This works considers the combined output feedback control and communication scheduling of linear, constrained systems. The motivation is to optimize the input value and the next communication instant between the sensor and controller to improve the control performance. The basic idea is to consider a set of candidate scheduling sequences and solve for each of this sequence a convex, robust optimal control problem based on the state estimate. The best scheduling sequence and the corresponding optimal input are used to schedule the communication and to provide the feedback to the plant. Conditions to guarantee robustly constraint satisfaction, recursive feasibility and robust stability are provided. The approach is illustrated by a simulation example.