Synthesis of self-triggered receding horizon controllers: A relaxed dynamic programming approach

This paper presents a self-triggered MPC controller design strategy for constrained linear systems. Based on the so-called relaxed dynamic programming inequality, the synthesis procedure allows us to determine both the updated MPC control action and the next triggering time. The resulting self-triggered MPC control law preserves stability and constraint satisfaction and also satisfy certain a priori chosen performance requirements. An illustrative example shows the effectiveness of this self-triggered MPC implementation.