Event-triggered MPC design for distributed systems with network communications

This paper deals with the communication problem in the distributed system, considering the limited battery power in the wireless network and redundant transmission among nodes. We design an event-triggered model predictive control ( ET-MPC ) strategy to reduce the unnecessary communication while promising the system performance. On one hand, for a linear discrete time-invariant system, a triggering condition is derived based on the Lyapunov stability. Here, in order to further reduce the communication rate, we enforce a triggering condition only when the Lyapunov function will exceed its value at the last triggered time, but an average decrease is guaranteed. On the other hand, the feasibility is ensured by minimizing and optimizing the terminal constrained set between the maximal control invariant set and the target terminal set. Finally, we provide a simulation to verify the theoretical results. It ʼ s shown that the proposed strategy achieves a good trade-off between the closed-loop system performance and communication rate.