Self-triggered MPC with performance guarantee using relaxed dynamic programming
Accepted version
Peer-reviewed
Repository URI
Repository DOI
Change log
Authors
Lu, L
Maciejowski, JM
Abstract
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 satis es a certain speci fied 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 e ffectiveness of our proposed self-triggered MPC scheme.
Description
Keywords
Self-triggered control, Model predictive control, Relaxed dynamic programming, Tube-based MPC
Journal Title
Automatica
Conference Name
Journal ISSN
0005-1098
1873-2836
1873-2836
Volume Title
114
Publisher
Elsevier BV