Dual‐mode event‐triggered predictive control for nonlinear systems with bounded disturbances

Abstract

AbstractIn this article, we propose a dual‐mode event‐triggered predictive control method for nonlinear systems with bounded disturbances. The proposed method contains two triggering mechanisms, namely, the hybrid threshold‐based event‐triggered model predictive control (HETMPC) mechanism and the event‐triggered linear quadratic regulator mechanism. The former triggering mechanism is designed based on the error between the real state and the optimal state and also the disturbance information acted on the investigated system. Compared with the traditional fixed triggering threshold, the designed HETMPC has a fewer triggering numbers and reduces the computational burden of online real‐time optimization. This event‐triggered mechanism will be adopted before the states go into the terminal invariant set. The latter event‐triggered mechanism is designed based on the derivation of the system state and it will be adopted after the states enter the terminal invariant set. The feasibility and the input‐to‐state practical stability analysis of the designed strategy is presented. Some simulations, including the application to a mass‐spring‐damper system, are provided to show the correctness and feasibility of the designed algorithms.