Koopman-Based Robust Model Predictive Control for Nonlinear Systems with Stochastic Intermittent Measurements

Abstract

Intermittent state measurements pose fundamental challenges to model predictive control of constrained nonlinear systems because prediction uncertainty grows during feedback outages and measurement-triggered resets disrupt nominal state propagation, potentially compromising closed-loop stability and recursive feasibility. This paper develops a Koopman-based stochastic MPC framework with probabilistically truncated soft constraints. Specifically, a Lipschitz-constrained deep Koopman model provides a linear latent predictor, enabling computationally efficient online optimization. The intermittent measurement process is modeled as a two-mode discrete-time Markov chain, yielding a unified Markov jump error model for open-loop propagation and measurement-triggered resets. Under numerically verifiable sufficient conditions, the prediction error is shown to be mean-square ultimately bounded, and an explicit uniform second-moment bound is obtained. A distribution-free probabilistic error radius is then constructed for a prescribed confidence level and used to truncate dropout-dependent constraint tightening. An exact-penalty soft-constraint mechanism accommodates reset-induced jumps and prolonged dropouts. Under the stated terminal compatibility and bounded-disturbance conditions, recursive feasibility and mean-square ultimate boundedness of the closed-loop regulation error are established. Numerical simulations on a visual-servoing tracking task corroborate these theoretical results and demonstrate effective tracking under stochastic measurement unavailability.