Event-Triggered Multi-Mode MPC with Application to Modular Aerial Vehicles

Our paper proposes a controller for global asymptotic stabilization of a nonlinear plant by combining multiple model-predictive controllers with event-triggered control. Given a collection of operating modes, the controller drives the state of the closed-loop system to a target operating mode using a sequence of optimal input trajectories. The computation of optimal trajectories takes place at events which are triggered either when the difference between the state of the closed-loop system and the optimal state trajectory exceeds a given threshold or when an internal timer expires. We demonstrate the proposed controller through simulations by applying it to the control of modular aerial vehicles.