A Differential Error-Based Self-Triggered Model Predictive Control With Adaptive Prediction Horizon for Discrete Systems

Abstract For discrete time nonlinear networked control systems, a novel self-triggered adaptive model predictive control (MPC) strategy is developed. Different from the existing self-triggered MPC methods that determine the triggering instants based on the difference between the optimal and real states at one single instant, the proposed approach updates the MPC system according to the differential form of the state error of two consecutive sampling moments to effectively reduce the computation and communication burden while maintaining the ideal control performance. In addition, this paper introduces a new adaptive prediction horizon mechanism to the self-triggered MPC, so that the amplitude of prediction horizon contraction is sufficiently large to further reduce the computational burden of the MPC method. Finally, the recursive feasibility and robust stability of this proposed strategy are proved strictly by theoretical analysis, and the simulation comparison results are shown to verify the proposed framework.