Event-based model predictive control for Networked Control Systems

Thanks to their cheap startup costs, flexibility, and standard infrastructure re-usability, Networked Control Systems have gained the attention of both the control community and the industry. Unfortunately, the presence of communication networks might introduce nondeterminism due to (random) delays and/or (unpredictable) information losses. In this paper, an event-based model predictive control approach for nonlinear continuous time systems under state and input constraints is presented. This method is able to counteract bounded delays, information losses, as well as deal with event triggering due to sensors and actuators. Under standard weak assumptions, closed loop stability, in the sense of asymptotic convergence, is achieved. Simulation results for a planar vertical takeoff and landing aircraft are provided.