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  • Robust self-triggered MPC with fast convergence for constrained linear systems

    Author(s)
    Dai, L
    Yang, F
    Qiang, Z
    Xia, Y
    Griffith University Author(s)
    Yang, Fuwen
    Year published
    2019
    Metadata
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    Abstract
    In this paper, a robust self-triggered model predictive control (MPC) scheme is proposed for linear discrete-time systems subject to additive disturbances, state and control constraints. To reduce the amount of computation on controller sides, MPC optimization problems are only solved at certain sampling instants which are determined by a novel self-triggering mechanism. The main idea of the self-triggering mechanism is to choose inter-sampling times by guaranteeing a fast decrease in optimal costs. It implies a fast convergence of system states to a compact set where it is ultimately bounded and a reduction of computation ...
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    In this paper, a robust self-triggered model predictive control (MPC) scheme is proposed for linear discrete-time systems subject to additive disturbances, state and control constraints. To reduce the amount of computation on controller sides, MPC optimization problems are only solved at certain sampling instants which are determined by a novel self-triggering mechanism. The main idea of the self-triggering mechanism is to choose inter-sampling times by guaranteeing a fast decrease in optimal costs. It implies a fast convergence of system states to a compact set where it is ultimately bounded and a reduction of computation times to stabilize the system. Once the state enters a terminal region, the system can be stabilized to a robust invariant set by a state feedback controller. Robust constraint satisfaction is ensured by utilizing the worst-case set-valued predictions of future states in such a way that recursive feasibility is guaranteed for all possible realisations of disturbances. In the case where a priority is given to reducing communication costs rather than improvement in control performance in a neighborhood of the origin, a feedback control law based on nominal state predictions is designed in the terminal region to avoid frequent feedback. Performances of the closed-loop system are demonstrated by a simulation example.
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    Journal Title
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
    Volume
    356
    Issue
    3
    DOI
    https://doi.org/10.1016/j.jfranklin.2018.12.009
    Subject
    Applied mathematics
    Electrical engineering
    Publication URI
    http://hdl.handle.net/10072/382810
    Collection
    • Journal articles

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