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Self-triggered MPC with performance guarantee using relaxed dynamic programming
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DOI：10.1016/j.automatica.2020.108803.png)
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Abstract
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This paper presents a self-triggered MPC controller design strategy for linear systems with state and input constraints. Based on the so-called relaxed dynamic programming inequality, the synthesis procedure determines both the updated MPC control action and the next triggering time. The resulting self-triggered MPC control law preserves stability and constraint satisfaction and also satisfies a certain specified performance requirement without requiring stabilizing terminal constraints. A robust self-triggered MPC scheme, based on the tube-MPC idea, is also presented for linear systems with persistent bounded additive disturbances. Simulation examples illustrate the effectiveness of our proposed self-triggered MPC scheme. (C) 2020 Elsevier Ltd. All rights reserved.
Keywords:
Self-triggered control
Model predictive control
Relaxed dynamic programming
Tube-based MPC
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5.9
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