2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS) | 2021
A convex combination strategy in event-triggered robust MPC for linear discrete-time systems with bounded disturbances
Abstract
This paper is concerned with event-triggered robust model predictive control (MPC) for linear discrete-time systems with bounded disturbances. The proposed feedback law is based on a convex combination of multiple controllers, involving an LQR controller and a set of low-gain controllers. An event-triggered condition for the combination coefficients is established based on the distance between the actual state and a robust positively invariant set. The proposed co-design of the event-triggered scheme and the feedback policy leads to a larger terminal region and a longer average inter-execution time with guaranteed recursive feasibility and robust stability. An example is used to demonstrate the effectiveness of the proposed method.