Dual Self-Triggered Model-Predictive Control for Nonlinear Cyber-Physical Systems

This article is concerned with the event-based model-predictive control (MPC) problem of nonlinear cyber-physical systems with control constraints. A novel dual self-triggered MPC strategy is proposed to significantly reduce communication loads. In particular, two triggering mechanisms with two different optimal control problems are appropriately designed by considering whether the system state belongs to the terminal set. We prove that the strategy guarantees the algorithm feasibility and the closed-loop stability if the controller parameters satisfy the proposed conditions. Simulation and comparison studies verify effectiveness and advantages over the existing results.