DOB-based Event-triggered Receding Horizon Control for Discrete-time Linear Systems with Bounded Disturbances

This work focuses on the joint design of the event-triggered mechanism and disturbance observer (DOB) in the receding horizon control (RHC) framework for linear systems in the presence of slowly varying disturbance. The state difference between the current system state and the state from the present triggering time instant is used to develop an event-triggered mechanism. To mitigate the effects of disturbances, a DOB is presented using the latest received state measurement by the controller. A constrained optimal control problem (OCP) of the robust RHC is defined at each time instant, in which the modified tightened sets are imposed to satisfy the control and state constraints. A composite controller combining an RHCbased controller with a disturbance-related controller is proposed to stabilize the controlled system. Theoretical analysis of the feasibility of the OCP and closed-loop system stability are elaborated in detail, respectively. A simulation example is provided to demonstrate the proposed control strategy’s effectiveness.