Self-Triggered Model Predictive Control for Continue Linear Constrained System: Robustness and Stability

M0638. In the paper, a dual-mode control strategy based on a self-triggered model predictive control (SMPC) and a state-feedback law is present for a continue linear time-invariant (LTI) system with state and input constrains. Compared with nominal model predictive control (NMPC), robustness is guaranteed to reject unknown disturbances for the system. At each triggering instant, the self-triggered mechanism is designed to compute the inter-execution time and reduce the frequency of solving the optimization problem and the communication. Then, the stability of the dual-mode strategy is analyzed to ensure the states practically stable. The theoretical results are verified by numerical simulation and the effects of parameters are discussed in detail.