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Self-triggered MPC with performance guarantee using relaxed dynamic programming

Lu, L and Maciejowski, JM (2020) Self-triggered MPC with performance guarantee using relaxed dynamic programming. Automatica, 114. ISSN 0005-1098

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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.

Item Type: Article
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 23 Nov 2019 20:19
Last Modified: 06 Apr 2021 01:44
DOI: 10.1016/j.automatica.2020.108803