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- Title
Event-triggered robust model predictive control for Lipschitz nonlinear networked control systems subject to communication delays.
- Authors
Ghorbani, Saeid; Safavi, Ali Akbar; Naghavi, S. Vahid
- Abstract
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.
- Subjects
PREDICTIVE control systems; TELECOMMUNICATION systems; LINEAR matrix inequalities; STATE feedback (Feedback control systems); PREDICTION models
- Publication
Transactions of the Institute of Measurement & Control, 2021, Vol 43, Issue 5, p1126
- ISSN
0142-3312
- Publication type
Article
- DOI
10.1177/0142331220969058