Self-triggered MPC with performance guarantee using relaxed dynamic programming
MetadataShow full item record
Lu, L., & Maciejowski, J. (2020). Self-triggered MPC with performance guarantee using relaxed dynamic programming. Automatica, 114 https://doi.org/10.1016/j.automatica.2020.108803
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.
External DOI: https://doi.org/10.1016/j.automatica.2020.108803
This record's URL: https://www.repository.cam.ac.uk/handle/1810/299392
Attribution-NonCommercial-NoDerivatives 4.0 International
Licence URL: https://creativecommons.org/licenses/by-nc-nd/4.0/