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Conference Paper (international conference)

Output-Feedback Model Predictive Control for Systems under Uniform Disturbances

Kuklišová Pavelková Lenka, Belda Květoslav

: Proceedings of the 7th International Conference on Control, Decision and Information Technologies (CoDIT) 2020, p. 897-902

: International Conference on Control, Decision and Information Technologies 2020 (CoDIT 2020) /7./, (Prague, CZ, 20200629)

: GA18-15970S, GA ČR

: output-feedback model predictive control, bounded uncertainty, Bayesian state estimation, parallel kinematic machine

: 10.1109/CoDIT49905.2020.9263867

: http://library.utia.cas.cz/separaty/2020/AS/kuklisova-0536061.pdf

(eng): The paper deals with an output-feedback model predictive control (MPC) for discrete-time systems influenced by bounded disturbances. The proposed MPC combines a state-space design and a state estimation. The state estimates are obtained by a specific uniform Bayesian filter. It provides an evident disturbance attenuation in the estimated state. The MPC design considers a quadratic cost function that incorporates penalties on the tracking error, on the actuation effort and on the system output increments. The theoretical results are completed by illustrative examples using a dynamic model of a parallel kinematic machine as a controlled system.

: BC

: 20204