Self-triggered Robust Model Predictive Control for Nonlinear Systems with Bounded Disturbances

A self-triggered model predictive control (MPC) scheme for continuous-time perturbed nonlinear systems subject to bounded disturbances is investigated in this study. A self-triggered strategy is designed to obtain the inter-execution time before the next trigger using the current sampled state. An optimisation problem is addressed to obtain the optimal control trajectory at each triggered instant....