An Accumulated Error Based Self-Triggered MPC with Adaptive Prediction Horizon for Cyber Physical Systems

An accumulated error based self-triggered model predictive control (AST-MPC) algorithm with an adaptive prediction horizon is proposed for cyber physical systems in this paper. Rather than executing the controller update periodically, the next time of solving the MPC optimization problem is determined according to a new accumulated error based triggering mechanism. Meanwhile, the corresponding prediction horizon is shortened as the state approaches the target regions based on which the communication times and computational complexity of the optimization problem can be reduced simultaneously. Given such a new MPC algorithm, the stability of the considered cyber physical system is analyzed theoretically to guarantee its applicability. Finally, the simulation verification results are provided to illustrate the effectiveness of the algorithm.