Robust model predictive control for polyhedral uncertain systems under relay and redundancy protocol

In networked systems, signal fading and packet loss occur due to limited bandwidth during signal transmission. To solve these problems, amplify-and-forward (AF) relay and redundant channels are considerd in the traditional robust model predictive control (RMPC) problem, and a novel design method for dynamic output feedback controller is propsoed in this paper. In addition to the min-max control method, the mathematical expectation is introduced to deal with the uncertainty of the system model and the randomness of the protocol parameters, sufficient conditions are established to guarantee the feasibility of the designed MPC scheme that ensures the robust stability of the closed-loop system. In terms of the solution to an auxiliary optimisation problem, an easy-to-implement MPC algorithm is proposed to obtain the desired sub-optimal control sequence as well as the upper bound of the quadratic cost function. Finally, a simulation example is shown to prove the effectiveness of the proposed RMPC strategy.