Event-Triggered MPC for Disturbed Nonlinear Systems via A Differential-Integral Mechanism

In this paper, the event-triggered model predictive control (ET-MPC) problem for the disturbed nonlinear system is studied, and a novel event-triggered mechanism (ETM) on the basis of a differential-integral (DI) type method is designed. Different from the existing triggering mechanism, we construct the ETM by combining the differential and integral of the error between the optimal prediction state and the actual one in the same prediction time period. Then, under the dual-mode control strategy, the DI type ET-MPC algorithm is established, and sufficient conditions are obtained to ensure the feasibility and stability of the algorithm. Finally, the simulation comparison verifies the effectiveness and the advantages of the developed algorithm.