Stochastic Model Predictive Control for Networked Systems with Random Delays and Packet Losses in All Channels

TL;DR

This paper proposes a stochastic Model Predictive Control approach for networked control systems experiencing random delays and packet losses, ensuring stability and feasibility despite unreliable communication channels.

Contribution

It introduces a control strategy that accounts for stochastic network issues, guaranteeing convergence and providing feasible initial states for the system.

Findings

State vector converges to zero with probability one

Optimization minimizes expected quadratic cost under constraints

Feasible initial state set is explicitly characterized

Abstract

A stochastic Model Predictive Control strategy for control systems with communication networks between the sensor node and the controller and between the controller and the actuator node is proposed. Data packets are subject to random delays and packet loss is possible; acknowledgments for received packets are not provided. The expected value of a quadratic cost is minimized subject to linear constraints; the set of all initial states for which the resulting optimization problem is guaranteed to be feasible is provided. The state vector of the controlled plant is shown to converge to zero with probability one.