Time-constrained event-triggered Model Predictive Control for nonlinear continuous-time systems

In this paper we propose a new event-triggered scheme for nonlinear continuous-time systems with additive bounded disturbances. Unlike existing results, the proposed event-triggered strategy is not derived from Lyapunov stability analysis. Instead, it is obtained from the time interval when the state reaches a local region around the origin. By guaranteeing that this time interval becomes smaller as the optimal control problem is solved, we ensure that the state converges to the prescribed set in finite time.