IEEE Trans Cybern. 2018 May;48(5):1397-1405. doi: 10.1109/TCYB.2017.2695499. Epub 2017 Aug 14.
The event-triggered control is a promising solution to cyber-physical systems, such as networked control systems, multiagent systems, and large-scale intelligent systems. In this paper, we propose an event-triggered model predictive control (MPC) scheme for constrained continuous-time nonlinear systems with bounded disturbances. First, a time-varying tightened state constraint is computed to achieve robust constraint satisfaction, and an event-triggered scheduling strategy is designed in the framework of dual-mode MPC. Second, the sufficient conditions for ensuring feasibility and closed-loop robust stability are developed, respectively. We show that robust stability can be ensured and communication load can be reduced with the proposed MPC algorithm. Finally, numerical simulations and comparison studies are performed to verify the theoretical results.
事件触发控制是网络控制系统、多智能体系统和大规模智能系统等的一种有前途的解决方案。在本文中，我们提出了一种用于具有有界干扰的约束连续时间非线性系统的事件触发模型预测控制（MPC）方案。首先，计算了时变的紧状态约束以实现鲁棒的约束满足，并在双模 MPC 框架内设计了事件触发调度策略。其次，分别开发了确保可行性和闭环鲁棒稳定性的充分条件。结果表明，所提出的 MPC 算法可以确保鲁棒稳定性并降低通信负载。最后，进行了数值模拟和对比研究以验证理论结果。
