Robust self-triggered MPC for constrained linear systems: A tube-based approach
Robust self-triggered MPC for constrained linear systems: A tube-based approach
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DOI：
10.1016/j.automatica.2016.05.004
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发表时间：
2016-10
期刊：
影响因子：
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通讯作者：
F. D. Brunner;M. Heemels;F. Allgöwer
中科院分区：
文献类型：
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作者：
F. D. Brunner;M. Heemels;F. Allgöwer
针对受加性扰动约束的线性离散系统，提出了一种基于MPC的鲁棒自触发控制算法。在每个采样瞬间，控制器既提供下一个采样瞬间，也提供应用于系统的输入，直到下一个采样瞬间。通过在MPC值函数的约束下最大化采样间时间，与MPC方案在每个时间点采样相比，在保证性能损失上限的同时，降低了闭环系统的平均采样频率。基于Tube MPC方法，通过收紧输入约束和状态约束实现鲁棒约束满足。此外，还证明了状态空间中的紧集是鲁棒渐近稳定的，该紧集是MPC方案中的一个参数。
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.