A Decentralized Event-Based Approach for Robust Model Predictive Control

In this paper, we propose an event-based sampling policy to implement a constraint-tightening, robust MPC method. The proposed policy enjoys a computationally tractable design and is applicable to perturbed, linear time-invariant systems with polytopic constraints. In particular, the triggering mechanism is suitable for plants with no...

Robust Model Predictive Control with Aperiodic Actuation: Employing a Decentralized Triggering Mechanism

In this thesis, a control design problem, in which communication between different elements of the control system takes place through a shared (possibly wireless) channel, is considered. With the implementation of the proposed approach, the use of limited resources such as network bandwidth and battery life may be reduced.<br/><br/>The proposal...