LAUSR

Self-triggered pseudo terminal ingredients are proposed in this study for the classic dual-mode robust model predictive control (RMPC) of discrete-time linear systems. By resorting to the off-line design of pseudo terminal ingredients, viz. pseudo terminal set and pseudo terminal cost, the optimization problem to be solved online is transformed into several subproblems with short prediction horizons. Furthermore, the controller design is based on the nominal system state, which enables a self-triggered mechanism during the implementation. The proposed approach is able to steer the system state into a predetermined terminal constraint set via intermittent samplings. The resultant computational and communicational burden for the online part is significantly reduced, which brings great convenience for band-limited practical systems. Simulations demonstrate the effectiveness of the proposed approach.