Networked Output-Feedback MPC: A Bounded Dynamic Variable and Time-Varying Threshold-Dependent Event-Based Approach
针对多面体不确定系统，提出一种带有有界动态变量和时变阈值的动态事件触发机制，设计输出反馈模型预测控制器，在保证闭环系统输入到状态实际稳定的同时减少资源消耗。
The event-triggered model predictive control (MPC) problem is addressed for polytopic uncertain systems. A new dynamic event-triggered mechanism (DETM) with a bounded dynamic variable and a time-varying threshold is proposed to manage measurement data packet releases. The dynamic output-feedback MPC issue is detailed as a "min-max" optimization problem (OP) with an objective function over an infinite horizon, where the hard constraint on the predictive control is required. By applying a Lyapunov-like function containing the bounded dynamic variable, an auxiliary OP constrained by several matrix inequalities is proposed, and the design methods of the output-feedback gains are provided if this auxiliary OP is feasible. The designed MPC controller ensures that the closed-loop system is input-to-state practically stable. Two examples including an event-triggered DC motor are given to illustrate the validity of the developed MPC algorithm. Simulation results verify that the proposed DETM has advantages over some existing triggering mechanisms in decreasing the consumption of resources while meeting the required performance.