An Observer-Based High-Order Fully Actuated Predictive Control for Systems with Network Constraints

This study investigates an output tracking problem of networked control systems (NCSs) with network constraints (containing network delays and packets dropouts). A high-order fully actuated (HOFA) system model is applied to describe the dynamics of NCSs. Correspondingly, an observer-based HOFA (OB-HOFA) predictive control scheme is proposed to solve this problem. In this scheme, a HOFA observer is designed to estimate the immeasurable system states, then an incremental HOFA (IHOFA) prediction model is constructed by using a Diophantine equation, such that the optimization of output tracking and the compensation of network constraints are completed via multi-step output predictions. A numerical simulation of air-bearing spacecraft simulator is provided to demonstrate the feasibility of the OB-HOFA predictive control scheme.