A Novel Self-Triggered MPC Scheme for Constrained Input-Affine Nonlinear Systems

This brief develops a novel self-triggered model predictive control algorithm based on time delay estimation for input-affine nonlinear systems. At each triggering instant, the algorithm determines simultaneously the predictive control sequence to feedforward compensate for the disturbance and the next triggering instant. As a result, the unnecessary samplings and transmissions are suppressed, and the frequency of solving the optimal control problem is reduced. The feasibility as well as the associated stability are verified, with a numerical example illustrating the effectiveness of the proposed scheme.