Constrained MPC designs for structured uncertain systems with random input delays

In this paper, constrained model predictive control (MPC) designs for a class of structured uncertain time-delay systems have been developed, where state delays as well as a random input delay have been taken into account. By replacing the control strategy with a freer one, an improved MPC design with larger initial feasible region has been developed. Furthermore, by analyzing the obtained algorithm, some useful properties of the solutions to the MPC optimization problem have been established. With these properties, a variant of the obtained algorithm with dramatically reduced number of online optimizing variables and hence the online computational burden has also been developed. However, the control performance degrades slightly. The two algorithms haven been proved to stabilize the closed loop system in the mean square sense and to guarantee the satisfaction of constraints. Finally a numeric example is given to illustrate the proposed results.