TY - GEN
T1 - Self-Triggered Robust MPC with ISM for Constrained Nonlinear Input-Affine Systems
AU - Zhang, Qian
AU - Shi, Yang
AU - Wu, Kui
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 2019/6/1
Y1 - 2019/6/1
N2 - This paper investigates the self-triggered model predictive control (MPC) with integral sliding mode method (ISM) of networked nonlinear continuous-time system subject to state and input constraints with additive disturbances and uncertainties. In the proposed scheme, the constrained optimization problem is solved aperiodically to generate control signals and the next execution time, leading to possible reductions in both computation and communication. The motivation of using ISM approach is to reject matched uncertainties. First, a self-triggered condition that involves comparing the cost function values with different execution periods is derived. Second, the robust MPC with ISM control strategy is rigorously studied depending on the self-triggered scheme. Finally, a numerical example is used to test the proposed algorithm and to verify our theoretical findings. © 2019 IEEE.
AB - This paper investigates the self-triggered model predictive control (MPC) with integral sliding mode method (ISM) of networked nonlinear continuous-time system subject to state and input constraints with additive disturbances and uncertainties. In the proposed scheme, the constrained optimization problem is solved aperiodically to generate control signals and the next execution time, leading to possible reductions in both computation and communication. The motivation of using ISM approach is to reject matched uncertainties. First, a self-triggered condition that involves comparing the cost function values with different execution periods is derived. Second, the robust MPC with ISM control strategy is rigorously studied depending on the self-triggered scheme. Finally, a numerical example is used to test the proposed algorithm and to verify our theoretical findings. © 2019 IEEE.
KW - Model Predictive Control (MPC)
KW - Nonlinear Continuous-Time Systems
KW - Robustness
KW - Self-Triggered Control
KW - Sliding Mode Control
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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85070588548&origin=recordpage
U2 - 10.1109/ISIE.2019.8781226
DO - 10.1109/ISIE.2019.8781226
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781728136660
VL - 2019-June
T3 - IEEE International Symposium on Industrial Electronics
SP - 2175
EP - 2180
BT - Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019
PB - IEEE
T2 - 28th IEEE International Symposium on Industrial Electronics, ISIE 2019
Y2 - 12 June 2019 through 14 June 2019
ER -