Min-max output feedback predictive control with guaranteed stability

This paper considers the output-feedback stabilization problem for nonlinear continuous time systems. Specifically we propose the combination of a min-max nonlinear model predictive control (NMPC) scheme with observers that deliver set-based state information. Provided the observer estimates are consistent and the min-max NMPC controller is designed suitably, it is show that the closed-loop is stable. In comparison to approaches based on the certainty equivalence principle, the outlined approach does not rely on inherent robustness properties which standard state-feedback NMPC might possess. Rather the min-max NMPC controller takes the state uncertainty directly into account. keywords: nonlinear model predictive control, receding horizon control, output-feedback, min-max, set-valued observer

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