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HYBRID
2010
Springer

On integration of event-based estimation and robust MPC in a feedback loop

10 years 21 days ago
On integration of event-based estimation and robust MPC in a feedback loop
The main purpose of event-based control, if compared to periodic control, is to minimize data transfer or processing power in networked control systems. Current methods have an (implicit) dependency between triggering the events and the control algorithm. To decouple these two, we introduce an event-based state estimator in between the sensor and the controller. The event-based estimator is used to obtain a state estimate with a bounded covariance matrix in the estimation error at every synchronous time instant, under the assumption that the set in the measurement-space that is used for event generation is bounded. The estimation error is then translated into explicit polytopic bounds that are fed into a robust MPC algorithm. We prove that the resulting MPC closed-loop system is input-to-state stable (ISS) to the estimation error. Moreover, whenever the network requirements are satisfied, the controller could explicitly request for an additional measurement in case there is a desire ...
Joris Sijs, Mircea Lazar, W. P. M. H. Heemels
Added 18 May 2010
Updated 18 May 2010
Type Conference
Year 2010
Where HYBRID
Authors Joris Sijs, Mircea Lazar, W. P. M. H. Heemels
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