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

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.