Title :
Self-triggered nonlinear model predictive control for networked control systems
Author :
Hashimoto, Kazumune ; Adachi, Shuichi ; Dimarogonas, Dimos V.
Author_Institution :
Dept. of Electr. Eng., KTH Inst. of Technol., Stockholm, Sweden
Abstract :
In this paper, we propose a self-triggered formulation of Model Predictive Control for continuous-time nonlinear networked control systems. Our control method derives not only when to execute control tasks but also provides the way to discretize the optimal control trajectory so as to alleviate the communication burden as much as possible. Stability analysis under the sample-and-hold implementation is also given in detail, which guarantees that the state converges to a terminal region where the local linear state feedback can stabilize the system. A simulation example verifies our proposed framework.
Keywords :
continuous time systems; linear systems; networked control systems; nonlinear control systems; optimal control; predictive control; stability; state feedback; trajectory control; communication burden; continuous-time nonlinear networked control systems; control tasks; local linear state feedback; optimal control trajectory; sample-and-hold implementation; self-triggered nonlinear model predictive control; stability analysis; terminal region; Networked control systems; Optimal control; Stability analysis; Trajectory; Upper bound; Vehicles;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7171995