Event-based Model Predictive Control

Contributors
Preface
Acknowledgments
Acronyms

1 Introduction
1.1 Background and motivation
1.2 Model predictive control
1.3 MPC in the presence of uncertainties
1.4 Event-based MPC
1.5 Book outline

2 Two-phase event-based MPC for continuous-time systems
2.1 Problem statement
2.2 Two-phase event-triggered MPC algorithm
2.2.1 Optimiaztion formulation
2.2.2 Event based a - ß strategy
2.2.3 Generalization of the a - ß Strategy
2.3 Feasibility and Stability
2.3.1 Recursive feasibility of optimization
2.3.2 Stability of the closed-loop system
2.4 Simulation examples
2.4.1 Undamped Oscillator
2.4.2 Simplified spring-damper element in vehicle suspension system
2.5 Conclusion

3 Event-Triggered MPC for Discrete-Time Systems with Aperiodic Sampling
3.1 Problem statement
3.1.1 Plant to be controlled
3.1.2 Formulation of optimization
3.2 Aperiodic triggering mechanism
3.2.1 Triggering mechanism
3.2.2 Stability and feasibility
3.3 Improved Aperiodic Triggering Mechanism
3.3.1 Statement of improved triggering mechanism
3.3.2 Feasibility and stability concerning the improved aperiodic triggering mechanism
3.4 A simulation example
3.5 Conclusion

4 Composite Event-Triggered MPC based on Disturbance Compensation
4.1 Problem Statement 8
4.2 Composite event-triggered MPC mechanism
4.2.1 Disturbance Compensation Controller Design
4.2.2 Model predictive controller design
4.2.3 Composite event-triggered MPC
4.2.4 Event-triggered mechanism with estimation
4.3 Feasibility and stability
4.3.1 Recursive feasibility
4.3.2 Closed-loop stability
4.4 A simulation example
4.5 Conclusion

5 Event-Triggered MPC with Periodic Sampling for Multi-Agent Systems
5.1 Problem statement
5.2 Distributed MPC design
5.2.1 Terminal set and auxiliary terminal control design
5.2.2 Distributed MPC framework
5.3 Periodic event-triggering mechanism design
5.4 Feasibility and stability
5.5 A simulation example
5.6 Conclusion

6 Concluding remarks and future directions

Bibliography