Robust Output Feedback MPC with Reduced Conservatism under Ellipsoidal Uncertainty

@article{Ji2020RobustOF,
  title={Robust Output Feedback MPC with Reduced Conservatism under Ellipsoidal Uncertainty},
  author={Tianchen Ji and Junyi Geng and Katherine Driggs Campbell},
  journal={2022 IEEE 61st Conference on Decision and Control (CDC)},
  year={2020},
  pages={1782-1789}
}
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… 
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