Event-triggered Robust Model Predictive Control for Lipschitz Nonlinear Networked Control Systems Subject to Communication Delays
Transactions of the Institute of Measurement and Control(2020)
摘要
In this paper, the problem of event-triggered robust model predictive control (MPC) was examined for a class of Lipchitz nonlinear networked control systems (NCS) with network-induced delays and subject to external disturbances. An event-triggering scheme for a continuous-time NCS was proposed, which reduced the communication traffic and computational burden of the MPC algorithm simultaneously. In comparison with the existing event-triggered nonlinear MPC (NMPC) approaches, the controller in this paper was designed as a state feedback control law, which minimized a “worst-case” performance index over an infinite horizon subject to constraints on the control input. The controller and event generator parameters were developed as a convex optimization problem, encompassing some linear matrix inequalities (LMIs). Simulation results showed that the proposed event-triggering NMPC scheme preserved closed-loop performance while reducing the communication rate and the computational time.
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关键词
Event-triggered control,networked control system,model predictive control,linear matrix inequality,Lipschitz nonlinear system
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