Robust stability of packetized predictive control of nonlinear systems with disturbances and Markovian packet losses

• Published in: Automatica (Oxford) Vol. 48; no. 8; pp. 1803 - 1811
• Main Authors: Quevedo, Daniel E., Nešić, Dragan
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.08.2012; Elsevier
• Subjects: Adaptative systems; Applied sciences; Channels; Computer science; control theory; systems; Computer systems and distributed systems. User interface; Control over networks; Control system analysis; Control theory. Systems; Cost function; Dropouts; Dynamical systems; Exact sciences and technology; Mathematical analysis; Modelling and identification; Non-linear systems; Packet dropouts; Predictive control; Sampling; Software; Stability; Stochastic stability; Stochastic stability; Control over networks; Non-linear systems; Packet dropouts; Predictive control; Markov process; Non linear control; Lossy channel; Linear time; Finite horizon; Minimum time; Uncertain system; Cost function; Robustness; System identification; Sampling; Actuator; Robust stability; Probabilistic approach; Transmission channel; Buffer system; Non linear system; Robust control; Discrete time; Transmission loss; Lyapunov function
• ISSN: 0005-1098; 1873-2836
• DOI: 10.1016/j.automatica.2012.05.046

We study a predictive control formulation for uncertain discrete-time non-linear uniformly continuous plant models where controller output data is transmitted over an unreliable communication channel. The channel introduces Markovian data-loss and does not provide acknowledgments of receipt. To achieve robustness with respect to dropouts, at every sampling instant the controller transmits packets of data. These contain possible control inputs for a finite number of future time instants, and minimize a finite horizon cost function. At the actuator side, received packets are buffered, providing the plant inputs. Within this context, we adopt a stochastic Lyapunov function approach to establish stability results of the networked control system. A distinguishing aspect of this work is that it considers situations where the maximum number of consecutive packet dropouts has unbounded support.