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conference paper

A Resource-Aware Approach to Self-Triggered Model Predictive Control

Wildhagen, Stefan
•
Jones, Colin N.  
•
Allgoewer, Frank
January 1, 2020
Ifac Papersonline
21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

In this paper, we consider a self-triggered formulation of model predictive control. In this variant, the controller decides at the current sampling instant itself when the next sample should be taken and the optimization problem be solved anew. We incorporate a pointwise-in-time resource constraint into the optimization problem, whose exact form can be chosen by the user. Thereby, the proposed scheme is made resource-aware with respect to a universal resource, which may pertain in practice for instance to communication, computation, energy or financial resources. We show that by virtue of the pointwise-in-time constraints, also a transient and an asymptotic average constraint on the resource usage are guaranteed. Furthermore, we derive conditions on the resource under which the proposed scheme achieves recursive feasibility and convergence. Finally, we demonstrate our theoretical results in a numerical example. Copyright (C) 2020 The Authors.

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Type
conference paper
DOI
10.1016/j.ifacol.2020.12.926
Web of Science ID

WOS:000652592500440

Author(s)
Wildhagen, Stefan
•
Jones, Colin N.  
•
Allgoewer, Frank
Date Issued

2020-01-01

Publisher

ELSEVIER

Publisher place

Amsterdam

Journal
Ifac Papersonline
Volume

53

Issue

2

Start page

2733

End page

2738

Subjects

Automation & Control Systems

•

event-based control

•

model predictive and optimization-based control

•

control under communication constraints

•

control under computation constraints

•

stability

Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LA3  
Event nameEvent placeEvent date
21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

ELECTR NETWORK

Jul 11-17, 2020

Available on Infoscience
June 19, 2021
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/178983
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