Robust Output Feedback Variable-Horizon MPC With Adaptive Terminal Constraints

This letter presents a robust output feedback variable-horizon model predictive control scheme for systems in which the state is not directly available but is estimated from noisy measurements. The control scheme is designed to intercept a moving target with a known trajectory while ensuring constraint satisfaction, recursive feasibility and finite-time convergence in the presence of bounded process disturbances and measurement noise. A key novelty of the proposed approach is the online adaptation of the terminal set, which reduces conservatism and improves performance in terms of final distance to the target, compared to existing tube-based methods. The effectiveness of the proposed approach is demonstrated on a numerical example concerning an orbital rendezvous maneuver of a spacecraft with an uncontrolled rotating object.