Robust self-triggered model predictive control for constrained discrete-time LTI systems based on homothetic tubes

E. Aydiner, F.D. Brunner, W.P.M.H. Heemels, F. Allgower

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28 Citations (Scopus)
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In this paper we present a robust self-triggered model predictive control (MPC) scheme for discrete-time linear time-invariant systems subject to input and state constraints and additive disturbances. In self-triggered model predictive control, at every sampling instant an optimization problem based on the current state of the system is solved in order to determine the input applied to the system until the next sampling instant, as well as the next sampling instant itself. This leads to inter-sampling times that depend on the trajectory of the system. By maximizing the inter-sampling time, the amount of communication in the control system is reduced. In order to guarantee robust constraint satisfaction, Tube MPC methods are employed. Specifically, in order to account for the uncertainty in the system, homothetic sets are used in the prediction of the future evolution of the system. The proposed controller is shown to stabilize a closed and bounded set including the origin in its interior.

Original languageEnglish
Title of host publication2015 European Control Conference, ECC 2015. 15-17 July 2015, Linz, Austria
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Number of pages7
ISBN (Electronic)978-3-9524-2693-7
ISBN (Print)978-1-4673-7160-5
Publication statusPublished - 16 Nov 2015
Event14th European Control Conference, ECC 2015 - Johannes Kepler University, Linz, Austria
Duration: 15 Jul 201517 Jul 2015
Conference number: 14


Conference14th European Control Conference, ECC 2015
Abbreviated titleECC 2015
OtherEuropean Control Conference
Internet address


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