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

作者：Zhongrui Hu, Peng Shi, Ligang Wu · 发表于：IEEE Transactions on Circuits and Systems I Regular Papers · 年份：2021 · DOI：10.1109/tcsi.2021.3069741 · 被引用次数：50 · 研究领域：Advanced Control Systems Optimization、Stability and Control of Uncertain Systems、Cardiovascular Function and Risk Factors

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.