A Linear Programming Approach to Design Online Triggering Mechanisms for Robust MPC
A. Sharifi Kolarijani (TU Delft - Team Tamas Keviczky)
S. C. Bregman (TU Delft - Support Delft Center for Systems and Control)
P. Mohajerin Esfahani (TU Delft - Team Bart De Schutter, TU Delft - Team Peyman Mohajerin Esfahani)
T. Keviczky (TU Delft - Team Tamas Keviczky)
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Abstract
In this paper, an event-triggering approach is proposed for a robust model predictive control method. The approach is applicable to constrained, linear time-invariant systems with bounded, additive disturbances. At each triggering instant, the triggering mechanism is designed online using a linear programming approach. Intuitively, the mechanism is a sequence of hyper-rectangles that surround the optimal state trajectory, over the prediction horizon. Standard analyses of robust feasibility and robust stability of the closed-loop, event-triggered control system are conducted. A numerical example is presented to show benefits of the proposed approach. In particular and under the assumption that the disturbance has a uniform distribution, we further study some statistical properties of the generated triggering instants.