Event-triggered model predictive control for constrained invariant set trajectory

This paper proposes a novel event-triggered algorithm based on a contract robust control invariant set trajectory for robust constrained model predictive control system. The trigger condition relies on the relationship between the sets where two continuous state vectors lie in. Feasibility of the algorithm and stability of the system are derived utilizing the invariant set theory. Simulation shows that the proposed algorithm is feasible and able to ultimately drive the states to a bound set related to the desired performance, while reducing the frequency of solving optimization problem and the number of control updates significantly.