Robust self-triggered MPC for constrained linear systems

F.D. Brunner, W.P.M.H. Heemels, F. Allgöwer

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

37 Citaten (Scopus)


In this paper we propose a robust self-triggered model predictive control algorithm for linear systems with additive bounded disturbances and hard constraints on the inputs and state. In self-triggered control, at every sampling instant the time until the next sampling instant is computed online based on the current state of the system. The goal is to achieve a low average sampling rate, thereby minimizing communication in the control system and possibly reducing the number of control updates as is required in sparse control applications. Naturally, and intentionally, our approach leads to long spans of time in which the plant is controlled in an open-loop fashion. Especially for unstable plants or large disturbances this necessitates taking into account the disturbance characteristics in the design of the control law in order to prevent constraint violation in the closed-loop system. We use constraint tightening methods as proposed in Tube Model Predictive Control to guarantee robust constraint satisfaction. The self-triggered controller is shown to stabilize a robust invariant set in the state space for the closed-loop system.

Originele taal-2Engels
TitelProceedings of the 2014 European Control Conference (ECC)
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Aantal pagina's6
ISBN van elektronische versie978-3-9524269-1-3
StatusGepubliceerd - 22 jul. 2014
Evenement13th European Control Conference, ECC 2014 - University of Strasbourg, Strasbourg, Frankrijk
Duur: 24 jun. 201427 jun. 2014
Congresnummer: 13


Congres13th European Control Conference, ECC 2014
Verkorte titelECC 2014
Ander2014 European Control Conference
Internet adres


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