Robust Output Feedback MPC with Reduced Conservatism under Ellipsoidal Uncertainty

Understand

Robust design of autonomous systems under uncertainty is an important yet challenging problem.

• This work proposes a robust controller that consists of a state estimator and a tube based predictive control law.
• The class of linear systems under ellipsoidal uncertainty is considered.
• In contrast to existing approaches based on polytopic sets, the constraint tightening is directly computed from the ellipsoidal sets of disturbances without over-approximation, thus leading to less conservative bounds.