An error gradient and accumulation‐type event‐driven model predictive control with relative thresholds for perturbed nonlinear systems

Abstract

This work investigates the event-driven model predictive control problem for perturbed nonlinear systems with input and state constraints. Firstly, a new event-driven triggering condition, considering the gradient and accumulation of the error between the optimal and actual states at adjacent moments with a state-dependent relative threshold is designed with a guaranteed positive inter-event time to avoid Zeno behaviour. Secondly, an error gradient and accumulation type event-driven model predictive control framework is designed based on the new triggering condition and the dual-mode strategy, for effectively reducing the calculation and communication burden of the model predictive control controller while ensuring desired control performance. Furthermore, the feasibility and the input-to-state practical stability (ISpS) of gradient and accumulation-type event-driven model predictive control are rigorously guaranteed theoretically. At last, the simulation results are provided to validate the this algorithm.

Dual‐mode event‐triggered predictive control for nonlinear systems with bounded disturbances

“…[13][14][15] To address this challenge, event-triggered control (ETC) has been introduced into the MPC framework in recent years. 16 Different from the conventional time-triggered MPC, the event-triggered MPC (ETMPC) solves the optimal control problem when specified events are satisfied. Since the optimization problem is not required to be solved continuously for the ETMPC, the computation resources can be saved.…”

“…However, such a strategy will cause a waste of computing and communication resources 13‐15 . To address this challenge, event‐triggered control (ETC) has been introduced into the MPC framework in recent years 16 . Different from the conventional time‐triggered MPC, the event‐triggered MPC (ETMPC) solves the optimal control problem when specified events are satisfied.…”