Abstract
In this paper, an enhanced event-based scheme for model predictive control (MPC) of constrained discrete-time systems with additive disturbances is investigated. The re/calculation of the MPC control law is triggered whenever an event depending on the error of the measured state with respect to the nominal state of the system occurs. Between the controller updates, the last computed control trajectory is applied to the system, in conjunction with a correction term. This term consists of a perturbation solution of the nominal system which itself depends on the aforementioned error. The overall framework yields less conservative results with respect to our previous work. The results are illustrated through a simulated example.
Original language | English (US) |
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Article number | 6426268 |
Pages (from-to) | 7193-7198 |
Number of pages | 6 |
Journal | Proceedings of the IEEE Conference on Decision and Control |
DOIs | |
State | Published - 2012 |
Event | 51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States Duration: Dec 10 2012 → Dec 13 2012 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization