Polytopic Event-Triggered Robust Model Predictive Control for Constrained Linear Systems

This paper studies the event-triggered robust model predictive control (MPC) problem for constrained linear systems subject to bounded disturbances. For control computations, explicit MPC reduces online optimizations to simple function evaluations, thus is suitable for resource constrained systems....

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Bibliographic Details
Published inIEEE transactions on circuits and systems. I, Regular papers Vol. 68; no. 6; pp. 2594 - 2603
Main Authors Hu, Zhongrui, Shi, Peng, Wu, Ligang
Format Journal Article
LanguageEnglish
Published New York IEEE 01.06.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Constraints
contracting polytope
Control stability
Control systems
Control theory
Cost function
event-triggering mechanism
explicit MPC
Feedback control
Linear systems
Optimal control
Predictive control
Predictive models
Robust control
Stability analysis
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Summary:This paper studies the event-triggered robust model predictive control (MPC) problem for constrained linear systems subject to bounded disturbances. For control computations, explicit MPC reduces online optimizations to simple function evaluations, thus is suitable for resource constrained systems. We propose an event-triggering mechanism (ETM) for an explicit robust model predictive controller such that function evaluations are not needed at every time instant and the ETM itself requires comparably less online computations. In the proposed ETM, we design a contracting polytopic trigger set with respect to system constraints and the explicit robust control law. The resulting event-triggered control scheme ensures robust constraint satisfaction and robust stability for the closed-loop system while avoiding the Zeno-like behavior. Simulation results illustrate the validity of the event-triggered robust control scheme.
ISSN:1549-8328
1558-0806
DOI:10.1109/TCSI.2021.3069741