Self-Triggered Model Predictive Control for Nonlinear Input-Affine Dynamical Systems via Adaptive Control Samples Selection

@article{Hashimoto2017SelfTriggeredMP,
  title={Self-Triggered Model Predictive Control for Nonlinear Input-Affine Dynamical Systems via Adaptive Control Samples Selection},
  author={Kazumune Hashimoto and Shuichi Adachi and Dimos V. Dimarogonas},
  journal={IEEE Transactions on Automatic Control},
  year={2017},
  volume={62},
  pages={177-189}
}
In this paper, we propose a self-triggered formulation of model predictive control for continuous-time nonlinear input-affine networked control systems. Our control method specifies not only when to execute control tasks but also provides a way to discretize the optimal control trajectory into several control samples, so that the reduction of communication load will be obtained. Stability analysis under the sample-and-hold implementation is also given, which guarantees that the state converges… CONTINUE READING
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