Periodic Event-Triggered MPC for Continuous-Time Nonlinear Systems With Bounded Disturbances

• 成果类型: Article
• 署名作者: Wang, Mengzhi; Cheng, Peng; Zhang, Zhenyong; Wang, Mufeng; Chen, Jiming
• 署名单位: Zhejiang University; Guizhou University; Zhejiang University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3282066
• 发表日期: 2023
• 页码: 8036-8043
• 关键词: Model predictive control (MPC); periodic static event-triggered control; periodic dynamic event-triggered control; disturbances

摘要

This article is concerned with periodic event-triggering laws in robust model predictive control (MPC) for continuous-time constrained nonlinear systems. The online optimal control problem solved at triggering times is introduced. A periodic static event-triggering condition, in which a fixed sampling time interval plays an important role in avoiding Zeno behavior, is presented to alleviate continuous checking of event detections. Then, a periodic dynamic event-triggering condition is investigated to further enlarge the minimal interexecution time. Single-mode MPC with a prediction horizon larger than the control one is considered. Sufficient conditions of recursive feasibility for the online optimal control problem are derived. In order to relax the sufficient condition of stability, ultimately boundedness properties are utilized in stability analysis. Finally, numerical simulation is provided to demonstrate the effectiveness of the proposed methods.