Journal
AUTOMATICA
Volume 72, Issue -, Pages 73-83Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2016.05.004
Keywords
Optimization-based controller synthesis; Networked control systems
Funding
- German Research Foundation (DFG) [EXC 310/2]
- DFG [AL 316/9-1]
- Innovational Research Incentives Scheme under the VICI grant Wireless control systems: A new frontier in automation - NWO (Netherlands Organization for Scientific Research) [11382]
- STW (Dutch Science Foundation)
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We propose a robust self-triggered control algorithm for constrained linear discrete-time systems subject to additive disturbances based on MPC. At every sampling instant, the controller provides both the next sampling instant, as well as the inputs that are applied to the system until the next sampling instant. By maximizing the inter-sampling time subject to bounds on the MPC value function, the average sampling frequency in the closed-loop system is decreased while guaranteeing an upper bound on the performance loss when compared with an MPC scheme sampling at every point in time. Robust constraint satisfaction is achieved by tightening input and state constraints based on a Tube MPC approach. Moreover, a compact set in the state space, which is a parameter in the MPC scheme, is shown to be robustly asymptotically stabilized. (C) 2016 Elsevier Ltd. All rights reserved.
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