Event-Triggered <inline-formula> <tex-math notation="LaTeX">$\mathscr{H}_{\infty}$ </tex-math></inline-formula>-Type Robust Model Predictive Control of Linear Systems With Disturbances

Abstract

A novel event-triggered ℋ∞-type robust model predictive control (RMPC) approach for linear systems with disturbances is proposed in this paper. The ℋ∞-type cost function is employed in our design, which renders a straightforward design of the triggering condition concerning the closed-loop stability. The resultant control system is input-to-state stable with an optimized disturbance attenuation level. Comparing with the time-triggered scenarios, the proposed event-triggered RMPC strategy significantly reduces the computational burden. The Zeno-like behavior together with system errors is further considered, which facilitates the practical implementation of the proposed method. The simulations reveal that the event-triggered ℋ∞-type RMPC approach has satisfying control performance, yet the computing time is significantly reduced.

Keywords

• Robust model predictive control
• event-triggered control
• input-to-state stability
• H∞-type cost function
• Zeno-like behavior