A Linear Programming Approach to Design Online Triggering Mechanisms for Robust MPC

Conference paper (2019)

Authors

Arman Sharifi K. Team Tamas Keviczky - Mechanical, Maritime and Materials Engineering
S.C. Bregman Support Delft Center for Systems and Control - Mechanical, Maritime and Materials Engineering
P. Mohajerin Esfahani , Team Peyman Mohajerin Esfahani - Mechanical, Maritime and Materials Engineering
T. Keviczky Team Tamas Keviczky - Mechanical, Maritime and Materials Engineering
Research Group
Team Tamas Keviczky (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2019 Arman Sharifi K., S.C. Bregman, P. Mohajerin Esfahani, T. Keviczky
DOI: https://doi.org/10.1109/CDC40024.2019.9029458
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Published Date

2019

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Tamas Keviczky

Abstract

In this paper, an event-triggering approach is proposed for a robust model predictive control method. The approach is applicable to constrained, linear time-invariant systems with bounded, additive disturbances. At each triggering instant, the triggering mechanism is designed online using a linear programming approach. Intuitively, the mechanism is a sequence of hyper-rectangles that surround the optimal state trajectory, over the prediction horizon. Standard analyses of robust feasibility and robust stability of the closed-loop, event-triggered control system are conducted. A numerical example is presented to show benefits of the proposed approach. In particular and under the assumption that the disturbance has a uniform distribution, we further study some statistical properties of the generated triggering instants.

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