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  • 1.
    Alexis, Kostas
    et al.
    Electrical and Computer Science Department, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Tzes, Anthony
    Electrical and Computer Science Department, University of Patras.
    Model predictive quadrotor control: attitude, altitude, and position experimental studies2012In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 6, no 12, p. 1812-1827Article in journal (Refereed)
    Abstract [en]

    This article addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localization data. Based on an attached Inertia Measurement Unit, a sonar and an optic flow sensor, the state vector is estimated using sensor fusion algorithms. A novel Switching Model Predictive Controller is designed in order to achieve precise trajectory control, under the presence of forcible wind–gusts. The quadrotor’s attitude, altitude and horizontal linearized dynamics result in a set of Piecewise Affine models, enabling the controller to account for a larger part of the quadrotor’s flight envelope while modeling the effects of atmospheric disturbances as additive–affine terms in the system. The proposed controller algorithm accounts for the state and actuation constraints of the system. The controller is implemented on a quadrotor prototype in indoor position tracking, hovering and attitude maneuvers experiments. The experimental results indicate the overall system’s efficiency in position/altitude/attitude set–point maneuvers.

  • 2.
    Ariba, Yassine
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Gouaisbaut, F.
    Rahme, S.
    Labit, Y.
    Traffic monitoring in transmission control protocol/active queue management networks through a time-delay observer2012In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 6, no 4, p. 506-517Article in journal (Refereed)
    Abstract [en]

    The use of the control theory tools for traffic control in communication networks, for example, the congestion control in internet protocol (IP) routers, has given rise to challenging issues in the time-delay system framework. In this study, the authors propose to design a linear time-delay observer for traffic monitoring in transmission control protocol/active queue management (TCP/AQM) networks. More precisely, the authors focus on a bottleneck topology consisting of long-lived TCP communications through a router. The developed mechanism, located at the router, aims at supervising the network via TCP flow estimations as well as detecting a class of anomalies. This issue is formulated as a stability problem for multiple delayed systems and appropriate robust control tools such as quadratic separation are adopted to address it. Then, some simulations via the network simulator NS-2 and an emulation experiment support the proposed methodology.

  • 3.
    Deng, Juan
    et al.
    Chinese Acad Sci, Acad Math & Syst Sci, LSC, Beijing 100190, Peoples R China.;Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China..
    Wang, Lin
    Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China.;Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China..
    Liu, Zhixin
    Chinese Acad Sci, Acad Math & Syst Sci, LSC, Beijing 100190, Peoples R China.;Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China..
    Hu, Xiaoming
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Coordination of multiple rigid bodies under distance-induced interaction topologies2018In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 12, no 15, p. 2067-2075Article in journal (Refereed)
    Abstract [en]

    This study considers the coordination control problem of a group of moving rigid bodies. Each rigid body communicates with other bodies via the distance-induced neighbour graphs. The authors design the distributed control laws for the angular velocity and linear velocity of rigid bodies, and establish sufficient conditions without relying on the dynamical properties of neighbour graphs, to guarantee that the rigid bodies reach the attitude synchronisation and avoid collision with nearby bodies while the communication networks keep connected. Moreover, they introduce a leader into the system to guide all rigid bodies to the desired attitude. Simulation examples are given to illustrate the authors' results.

  • 4.
    Dimarogonas, Dimos V.
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Johansson, Karl H.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Bounded control of network connectivity in multi-agent systems2010In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 4, no 8, p. 1330-1338Article in journal (Refereed)
    Abstract [en]

    A distributed control law that guarantees connectivity maintenance in a network of multiple mobile agents is presented. The control law, which lets the agents perform formation manoeuvres, respects sensor limitations by allowing each agent to only take into account agents within its sensing radius. In contrast to previous approaches to the problem, the proposed control law does not attain infinite values whenever an edge of the communication graph tends to be lost. This is achieved via the use of decentralised navigation functions, which are bounded potential fields. The navigation functions are defined to take into account the connectivity maintenance objective. The authors first treat the case of connectivity maintenance for a static communication graph and then extend the result to the case of dynamic graphs. The results are illustrated on a formation control problem.

  • 5. Dong, Yi
    et al.
    Hu, Xiaoming
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Distributed control of periodic formations for multiple under-actuated autonomous vehicles2017In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 11, no 1, p. 66-72Article in journal (Refereed)
    Abstract [en]

    One of the unique global behaviours of a group of under-actuated autonomous vehicles is known as cyclic pursue, which requires a group of vehicles to uniformly distribute on circles and at the same time, to orbit around a centre point, while circumnavigation further requires those vehicles to circumnavigate a predefined target of interest. Such behaviours can also be called periodic formations. This paper further studies the periodic formations for multi-agent systems composed of a group of under-actuated autonomous vehicles and a target of interest by proposing a distributed strategy to maintain any required distance between two vehicles and desired angle difference between vehicle's heading and the line of sight that takes directly towards its pursuing vehicle. The authors' distributed control law, dependent only on the information of its pursuing vehicle and itself, can not only enable a network of autonomous vehicles to circulate around a target of interest, but also achieve any physically feasible periodic formations, which include forming regular polygons as a special case.

  • 6.
    Doulgeri, Zoe
    et al.
    Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
    Karayiannidis, Yiannis
    Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
    Performance analysis of a soft tip robotic finger controlled by a parallel force/position regulator under kinematic uncertainties2007In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 1, no 1, p. 273-280Article in journal (Refereed)
    Abstract [en]

    The performance of a modified parallel control scheme is examined under surfacekinematic uncertainties using nonlinear stability analysis. The controlled system is a roboticfinger with a soft hemispherical fingertip of significant radius in contact with an unknownsurface. Analysis of the control system performance shows that force converges to the desiredvalue, whereas position errors stay close to zero and in some cases can even vanish despite uncertainties. Simulation results support the theoretical findings and illustrate the performance of theproposed controller.

  • 7. Guinaldo, Maria
    et al.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Johansson, Karl H.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Sanchez, Jose
    Dormido, Sebastian
    Distributed event-based control strategies for interconnected linear systems2013In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 7, no 6, p. 877-886Article in journal (Refereed)
    Abstract [en]

    This study presents distributed event-based control strategies for a networked dynamical system consisting of N linear time-invariant interconnected subsystems. Each subsystem broadcasts its state over the network according to certain triggering rules that only depend on local information. The system can converge asymptotically to the equilibrium point under the proposed control design, and the existence of a lower bound for the broadcasting period is guaranteed. A novel model-based approach is derived to reduce the communication between the agents. Simulation results show the effectiveness of the proposed approaches and illustrate the theoretical results.

  • 8.
    Hashimoto, Kazumune
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Adachi, Shuichi
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Distributed aperiodic model predictive control for multi-agent systems2015In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 9, no 1, p. 10-20Article in journal (Refereed)
    Abstract [en]

    In this study, the authors propose an aperiodic formulation of model predictive control for distributed agents with additive bounded disturbances. In the proposed method, each agent solves an optimal control problem only when certain control performances cannot be guaranteed according to certain triggering rules. This could lead to the reduction of energy consumption and the alleviation of over usage of communication resources. The triggering rules are derived for both event-triggered and self-triggered formulation. The authors proposed method is also verified through a simulation example.

  • 9.
    Hoang Duc, Long
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Physics, Department of Physics and Astronomy, FREIA. Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    Nguyen Dinh The, Anh
    Vietnam National University (VNU), Hanoi, Vietnam.
    Bach Gia, Duong
    Vietnam National University (VNU), Hanoi, Vietnam.
    Jobs, Magnus
    Uppsala University, Disciplinary Domain of Science and Technology, Physics, Department of Physics and Astronomy, FREIA. Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    Ruber, Roger
    Uppsala University, Disciplinary Domain of Science and Technology, Physics, Department of Physics and Astronomy, FREIA. Uppsala University, Disciplinary Domain of Science and Technology, Physics, Department of Physics and Astronomy, High Energy Physics.
    Dancila, Dragos
    Uppsala University, Disciplinary Domain of Science and Technology, Physics, Department of Physics and Astronomy, FREIA. Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    A new high-power low-loss air-dielectric stripline Gysel divider/combiner for particle accelerator applications at 352 MHz2018In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, no 5, p. 264-267Article in journal (Refereed)
    Abstract [en]

    This study presents a new two-way Gysel combiner based on an air-dielectric stripline which allows to handle very high radio-frequency power levels with low-loss suitable for power combination in accelerator applications. The insertion loss of the combiner is 0.1 dB (2%). A thick stripline implementation allows improving the power capability in both continuous wave (CW) and pulsed operation. In addition, a mechanical tuner allows compensating for assembly and fabrication discrepancies. A methodology of designing the Gysel combiner as well as high-power measurements up to 22 kW in pulsed mode are presented. Simulations and measurements are in very good agreement.

  • 10.
    Hu, Liang
    et al.
    Department of Computer Science, Brunel University London, United Kingdom.
    Wang, Zidong
    Department of Computer Science, Brunel University London, United Kingdom.
    Liu, Xiaohui
    Department of Computer Science, Brunel University London, United Kingdom.
    Vasilakos, Athanasios
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Computer Science.
    Alsaadi, Fuad Eid S.
    Faculty of Engineering, King Abdulaziz University, Jeddah, Saudi Arabia.
    Recent advances on state estimation for power grids with unconventional measurements2017In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 11, no 18, p. 3221-3232Article in journal (Refereed)
    Abstract [en]

    State estimation problem for power systems has long been a fundamental issue that demands a variety of methodologies depending on the system settings. With the recent introduction of advanced devices of phasor measurement units (PMUs) and dedicated communication networks, the infrastructure of power grids has been greatly improved. Coupled with the infrastructure improvements are three emerging issues for the state estimation problems, namely, the coexistence of both traditional and PMU measurements, the incomplete information resulting from delayed, asynchronous and missing measurements due to communication constraints, and the cyber-attacks on the communication channels. In this study, the authors aim to survey some recent advances on the state estimation methods which tackle the above three issues in power grids. Traditional state estimation methods applied in power grids are first introduced. Latest results on state estimation with mixed measurements and incomplete measurements are then discussed in great detail. In addition, the techniques developed to ensure the cyber-security of the state estimation schemes for power grids are highlighted. Finally, some concluding remarks are given and some possible future research directions are pointed out. 

  • 11.
    Karayiannidis, Yiannis
    et al.
    Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
    Doulgeri, Zoe
    Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
    Blind force/position control on unknown planar surfaces2009In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 3, no 5, p. 595-603Article in journal (Refereed)
    Abstract [en]

     In robot contact tasks on planar surfaces with frictional contacts, kinematic uncertainties of thecontacted surface affect the control system performance and distort control targets. An adaptive controllerthat uses force and joint position/velocity measurements to simultaneously learn the surface orientation andachieve the desired goal is proposed. Simulation examples are used to illustrate the theoretical results andthe performance of the proposed controller in practical cases.

  • 12. Norlander, Torbjörn
    et al.
    Mäkilä, Pertti
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Parametric linear quadratic control and random delays2000In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 147, no 6, p. 641-647Article in journal (Refereed)
    Abstract [en]

    The authors derive the design equations for parametric linear quadratic control of continuous-time systems with random delays. This problem motivates a more general setup that is utilised for the development of efficient numerical algorithms. Systems with random delays are important in control problems over communication networks. The generalised setup allows robustness issues against modelling errors and statistically varying disturbances to be addressed. The results are illustrated with examples

  • 13.
    Shirazinia, Amirpasha
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group.
    Zaidi, A A
    Bao, L
    Skoglund, M
    Dynamic Source-channel coding for estimation and control over binary symmetric channels2015In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 9, no 9, p. 1444-1454Article in journal (Refereed)
    Abstract [en]

    The authors study causal dynamic source-channel codes for mean-square stabilisation of a linear plant with random initial state, over binary symmetric channels (BSCs). A binary expansion source coding scheme and two types of channel coding schemes are investigated: (i) dynamic repetition encoding under sequential majority logic decoding, and (ii) dynamic Fountain encoding under sequential BP decoding. The coding schemes are first analysed for an open-loop system, where the goal is to transmit a real-valued source over BSCs with the objective of minimising end-to-end mean-square error distortion. They derive upper- and lower bounds on the achievable distortion which is a function of time. Based on these distortion bounds, they show that the dynamic Fountain codes are able to stabilise (in mean-square sense) an unstable linear plant over BSCs.

  • 14. Shirazinia, Amirpasha
    et al.
    Zaidi, Ali A.
    Bao, Lei
    Skoglund, Mikael
    KTH, School of Electrical Engineering (EES), Communication Theory.
    Dynamic source-channel coding for estimation and control over binary symmetric channels2015In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 9, no 9, p. 1444-1454Article in journal (Refereed)
    Abstract [en]

    The authors study causal dynamic source-channel codes for mean-square stabilisation of a linear plant with random initial state, over binary symmetric channels (BSCs). A binary expansion source coding scheme and two types of channel coding schemes are investigated: (i) dynamic repetition encoding under sequential majority logic decoding, and (ii) dynamic Fountain encoding under sequential BP decoding. The coding schemes are first analysed for an open-loop system, where the goal is to transmit a real-valued source over BSCs with the objective of minimising end-to-end mean-square error distortion. They derive upper- and lower bounds on the achievable distortion which is a function of time. Based on these distortion bounds, they show that the dynamic Fountain codes are able to stabilise (in mean-square sense) an unstable linear plant over BSCs.

  • 15. Stocks, Mikael
    et al.
    Medvedev, Alexander
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Linear-quadratic optimal time-varying observers with time-varying guaranteed convergence rate2009In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 3, no 2, p. 181-188Article in journal (Refereed)
    Abstract [en]

    well-known method by Anderson and Moore for optimal quadratic feedback design with guaranteed constant convergence rate for linear time-invariant systems is generalised to linear complex-valued time-varying systems and time-varying convergence rates. The resulting method is readily applicable to observer design for state-affine systems and unifies methods developed there with the classical quadratic optimal state estimation and control. A pre-assigned time-varying convergence rate is shown to significantly improve the observer's transients in comparison with a constant one being employed for flux estimation in induction machines.

  • 16.
    Tayamon, Soma
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Automatic control.
    Larsson, Anders
    Westerberg, Björn
    Model-based temperature control of a selective catalytic reduction system2015In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 9, no 2, p. 211-221Article in journal (Refereed)
    Abstract [en]

    Selective catalytic reduction (SCR) systems are commonly used for exhaust gas aftertreatment in many applications. For optimal NOx reduction using the SCR technique a certain temperature must be reached. This study deals with modelling and control of the temperature inside the SCR system for optimal catalyst operation. A first principle-based model is described for the propagation of the temperature inside the catalyst. The model is described in linear parameter varying (LPV) state-space form and used for control of the temperature using a linear-quadratic-Gaussian (LQG) controller. Necessary conditions for obtaining an optimal controller without complete state information are defined. This leads to a discrete-time LQG controller for LPV systems. The results obtained for the controller are based on several assumptions to ensure the stability of the controller. The states of the proposed model are not measurable. For this purpose, a Kalman filter-based observer is designed for estimation of the states that are used for state feedback in the controller. The observer is designed for discrete-time LPV systems and necessary assumptions for the observer are derived in the work. The resulting model of the temperature gives a model fit of up to 77% for validation data and the controller requirements are met using the proposed controller applied in a simulator environment.

  • 17.
    Thomas, J.
    Linköping University, Department of Electrical Engineering. Linköping University, The Institute of Technology.
    Analytical non-linear model predictive control for hybrid systems with discrete inputs only2012In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 6, no 8, p. 1080-1088Article in journal (Refereed)
    Abstract [en]

    Model predictive control (MPC) is known as an efficient technique for controlling different industrial processes. However, the computation load remains the main challenge facing the real-time application of the MPC technique especially for complex systems, like, for example, hybrid systems with discrete or binary variables. In this study the authors propose an analytical non-linear model predictive control (NMPC) technique for hybrid systems with discrete inputs only. The proposed controller has lower computation complexity compared to other techniques presented in the literature; as a result real-time implementation is turned to be possible for several systems. The proposed analytical NMPC controller can be applied efficiently for different classes of hybrid systems: switching systems, linear hybrid systems, non-linear hybrid systems and constrained systems. The proposed technique is validated through several examples representing different classes of hybrid systems with discrete inputs.

  • 18.
    Wigren, Torbjörn
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Automatic control.
    Wireless feedback and feedforward data flow control subject to rate saturation and uncertain delay2016In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 10, no 3, p. 346-353Article in journal (Refereed)
  • 19.
    Wu, Junfeng
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. Hong Kong University of Science and Technology, China.
    Quevedo, Daniel E.
    Xiong, Junlin
    Ren, Zhu
    Cao, Xianghui
    Demirel, Burak
    Special Issue: Resource-efficient Control in Cyber-Physical Systems2017In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 11, no 11, p. 1663-1665Article in journal (Refereed)
  • 20.
    Yang, Tao
    et al.
    Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang, Liaoning, Peoples R China..
    Meng, Ziyang
    Tsinghua Univ, Dept Precis Instrument, Beijing, Peoples R China..
    Wan, Yan
    Univ Texas Arlington, Dept Elect Engn, Arlington, TX 76019 USA..
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
    Ren, Wei
    Univ Calif Riverside, Dept Elect Engn, Riverside, CA 92521 USA..
    Lewis, Frank L.
    Univ Texas Arlington, Dept Elect Engn, Arlington, TX 76019 USA..
    Guest Editorial: Distributed Optimisation and Learning for Networked Systems2019In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 13, no 17, p. 2725-2729Article in journal (Other academic)
  • 21.
    Zambelli, Martina
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Karayiannidis, Yiannis
    KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Posture regulation for unicycle-like robots with prescribed performance guarantees2015In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 9, no 2, p. 192-202Article in journal (Refereed)
    Abstract [en]

    This study aims to address the regulation problem for the unicycle model while guaranteeing prescribed performance. Different controllers based either on polar coordinates or time-varying laws are proposed. The main contribution is the combination of the standard control laws that allow to achieve posture regulation for the unicycle, with the prescribed performance control technique that imposes time-varying constraints to the system coordinates. To apply prescribed performance to the unicycle system which is subject to a non-holonomic constraint, the authors design a specific transformation function that is instrumental in the proof of asymptotic convergence with prescribed guaranties.

  • 22.
    Zenere, Alberto
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Zorzi, Mattia
    Univ Padua, Italy.
    On the coupling of model predictive control and robust Kalman filtering2018In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 12, no 13, p. 1873-1881Article in journal (Refereed)
    Abstract [en]

    Model predictive control (MPC) represents nowadays one of the main methods employed for process control in industry. Its strong suits comprise a simple algorithm based on a straightforward formulation and the flexibility to deal with constraints. On the other hand, it can be questioned its robustness regarding model uncertainties and external noises. Thus, a lot of efforts have been spent in the past years into the search of methods to address these shortcomings. In this study, the authors propose a robust MPC controller which stems from the idea of adding robustness in the prediction phase of the algorithm while leaving the core of MPC untouched. More precisely, they consider a robust Kalman filter that has been recently introduced and they further extend its usability to feedback control systems. Overall the proposed control algorithm allows to maintain all of the advantages of MPC with an additional improvement in performance and without any drawbacks in terms of computational complexity. To test the actual reliability of the algorithm, they apply it to control a servomechanism system characterised by non-linear dynamics.

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