Packet-Based Model Predictive Control for Networked Control Systems With Random Packet Losses

Abstract

In this paper, the stability for a class of nonlinear networked control systems with a model predictive controller (MPC) is investigated. Both the sensor-to-controller channel and the controller-to-actuator channel suffer from random packet losses. By constructing a novel cost function, and studying its deviation from the original MPC cost function, we establish the stochastic stability for the closed-loop system. To guarantee the stability, the relationship between the prediction horizon and the packet loss probabilities of two channels is also discussed. Finally, the effectiveness of our results is demonstrated by a numerical example.