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Lyapunov-Based Model Predictive Control of Nonlinear Systems Subject to Data Losses

机译：基于Lyapunov的非线性系统数据丢失的模型预测控制。

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摘要

In this work, we focus on model predictive control of nonlinear systems subject to data losses. The motivation for considering this problem is provided by wireless networked control systems and control of nonlinear systems under asynchronous measurement sampling. In order to regulate the state of the system towards an equilibrium point while minimizing a given performance index, we propose a Lyapunov-based model predictive controller which is designed taking data losses explicitly into account, both in the optimization problem formulation and in the controller implementation. The proposed controller allows for an explicit characterization of the stability region and guarantees that this region is an invariant set for the closed-loop system under data losses, if the maximum time in which the loop is open is shorter than a given constant that depends on the parameters of the system and the Lyapunov-based controller that is used to formulate the optimization problem. The theoretical results are demonstrated through a chemical process example.
机译：在这项工作中，我们专注于遭受数据丢失的非线性系统的模型预测控制。无线网络控制系统和异步测量采样下的非线性系统控制提供了考虑此问题的动机。为了在最小化给定性能指标的同时将系统状态调节到平衡点，我们提出了一种基于Lyapunov的模型预测控制器，该模型的设计在优化问题的制定和控制器的实现中都明确考虑了数据损失。 。所提出的控制器允许对稳定区域进行显式表征，并确保该区域是闭环系统在数据丢失时的不变集合，前提是开环的最大时间短于给定常数，该常数取决于系统参数和用于制定优化问题的基于Lyapunov的控制器。通过化学过程实例证明了理论结果。

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