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This paper studies the event-triggered receding horizon control (RHC) of continuous-time nonlinearsystems. An integral-type event-triggered mechanism is proposed to save the communicational resource, and a less conservative robustness constraint is introduced to the RHC scheme for compensating the additive disturbance. Based on these formulations, the designed event-triggered algorithm is shown to have better performance on avoiding unnecessary communication. Furthermore, the feasibility of the integral-type event-triggered RHC scheme and the stability of the closed-loop system are rigorously investigated. Several sufficient conditions to guarantee these properties are established, which indicate that a trade-off exists for designing parameters such as the prediction horizon, the disturbance bound, the triggering level, and the contraction rate for the robustness constraint. The effectiveness of the proposed algorithm is illustrated by a numerical example.

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