A Fusion Estimation Approach for Robust Output Feedback MPC of Multi-Sensor Systems | IEEE Journals & Magazine | IEEE Xplore

A Fusion Estimation Approach for Robust Output Feedback MPC of Multi-Sensor Systems


Abstract:

This letter presents a fusion-based output feedback MPC (FOFMPC) approach for multi-sensor systems with state and control constraints. Our approach consists of a fusion e...Show More

Abstract:

This letter presents a fusion-based output feedback MPC (FOFMPC) approach for multi-sensor systems with state and control constraints. Our approach consists of a fusion estimation procedure and a robust output feedback MPC scheme. For fusion estimation, we adopt a two-layer structure where local observers are designed for all the sensors and operate in parallel and a fusion center collects the states of the individual observers and produces a fusion estimate based on certain weighted fusion criterion. The weights are computed by minimizing the weighted Minkowski sum of the local robust positively invariant (RPI) sets. This fusion estimation procedure is then integrated into the framework of robust output feedback MPC (ROFMPC). We verify the effectiveness of the proposed approach using a three-zone building model.
Published in: IEEE Control Systems Letters ( Volume: 8)
Page(s): 574 - 579
Date of Publication: 13 May 2024
Electronic ISSN: 2475-1456

Funding Agency:


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